This repository documents the codebase for simulations presented in the 6th Annual Learning for Dynamics & Control Conference (L4DC) paper entitled "System-level Safety Guard: Safe Tracking Control through Uncertain Neural Network Dynamics Models". The development is on MATLAB based on several 3rd party toolboxs. Simulation videos are available on the webpage https://xiaolisean.github.io/publication/2023-11-01-L4DC2024.
Please cite as:
@inproceedings{li2024system,
title={System-level safety guard: Safe tracking control through uncertain neural network dynamics models},
author={Li, Xiao and Li, Yutong and Girard, Anouck and Kolmanovsky, Ilya},
booktitle={6th Annual Learning for Dynamics \& Control Conference},
pages={968--979},
year={2024},
organization={PMLR}
}
- Install MATLAB Toolbox Manager [https://tbxmanager.com/]. It's recommended to save the path where the tbxmanager is installed to MATLAB.
urlwrite('http://www.tbxmanager.com/tbxmanager.m', 'tbxmanager.m');
tbxmanager
savepath
tbxmanager restorepath
- Install YALMIP using tbxmanager [https://yalmip.github.io/tutorial/installation/]
tbxmanager install yalmip
-
Install CORA using MATLAB Add-On Explorer (A Toolbox for Reachability Analysis) [https://tumcps.github.io/CORA/]
-
Run
TestOminidirectionalRobot.m