Hybrid Robotics

CBF-CLF-Helper

Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.

GenLoco

NMPC-DCLF-DCBF

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

MPC-CBF

"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718

car-racing

A toolkit for testing control and planning algorithm for car racing.

cbf

An open source repository for control, planning and navigation about control barrier functions.

Lane-Change-CBF

Rule-Based Safety-Critical Control Design with Application to Autonomous Lane Change https://arxiv.org/abs/2103.12382

prompt2walk

Code for Prompt a Robot to Walk with Large Language Models https://arxiv.org/abs/2309.09969

quadruped_nmpc_dcbf_duality

multiple-quadrotor-flexible-hose

Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control

CBF-Pointwise-Feasibility

"Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. Li and K. Sreenath https://arxiv.org/pdf/2103.12375.pdf

geometric-toolbox

Contains all the functions (such as hat map, rotations, transport map, etc.) used during the development of geometric mechanics and control of robotic systems.

ilqr-iterative-tasks

i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments (CDC 2023) https://arxiv.org/abs/2302.14246

Iterative-MPC-DHOCBF

"Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions" by S. Liu, J. Zeng, K. Sreenath and C. Belta http://arxiv.org/pdf/2210.04361.pdf

Quad-Load

Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load.

PPQL

Differential flatness based path planning with direct collocation on hybrid modes for a quadrotor with a cable-suspended payload (RA-L 2020)

dynamics_on_manifolds

Symbolic Computation of Dynamics on Smooth Manifolds

Quad-Load-Pulley

"Geometric Control and Differential Flatness of a Quadrotor UAV with Load Suspended from a Pulley" by J. Zeng, P. Kotaru and K. Sreenath https://ieeexplore.ieee.org/document/8815173

ball-and-beam-project

EE222/ME237 Nonlinear Systems, Spring 2022, Starter code for the course project.

vo-polytope

Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems (RA-L 2023)

Quad-Load-Offset

"Geometric Control of a Quadrotor with a Load Suspended from an Offset" by J. Zeng and K. Sreenath https://ieeexplore.ieee.org/document/8814939

depth_cbf

Point Cloud-Based Control Barrier Function Regression for Safe and Efficient Vision-Based Control

agility-cassie-doc

The official Agility Robotics Cassie documentation and software release repository.

HybridRoA

Source code for "Computation of RoAs for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots", RA-L 2022