control-barrier-functions

There are 7 repositories under control-barrier-functions topic.

HybridRobotics / CBF-CLF-Helper
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
safety-critical control-theory cbf clf matlab control-barrier-functions control-lyapunov-functions
Language:MATLAB 342
HybridRobotics / 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)
model-predictive-control safety-critical-systems mpc-control obstacle-avoidance-algorithm control-lyapunov-functions control-barrier-functions ipopt matlab quadratic-programming nonlinear-optimization
Language:MATLAB 295
HybridRobotics / 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
ipopt model-predictive-control obstacle-avoidance-algorithm safety-critical-systems control-lyapunov-functions control-barrier-functions mpc-control mpc-cbf
291
HybridRobotics / car-racing
A toolkit for testing control and planning algorithm for car racing.
model-predictive-control control-barrier-functions car-racing trajectory-optimization simulation obstacle-avoidance casadi nonlinear-optimization learning optimization-algorithms
Language:Python 185
elena-ecn / mpc-cbf
Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.
control-barrier-functions mpc optimization robotics safety-critical-control
Language:Python 162
shaoanlu / mppi_cbf
Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.
control-barrier-functions jax mppi model-predictive-control safety-filter
Language:Jupyter Notebook 103
Weixy21 / BarrierNet
Safe robot learning
control-barrier-functions differentiable-optimization end-to-end-learning visual-servoing safety-critical-systems robot-learning
Language:Python 97
MizuhoAOKI / control_barrier_function
control barrier function examples
control-barrier-functions
Language:Jupyter Notebook 52
buntonj / CLF-CBF-QP
Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.
control-barrier-functions control-lyapunov-functions dynamical-systems matlab
Language:MATLAB 45
Weixy21 / SafeDiffuser
Safe Planning with Diffusion Probabilistic Models
control-barrier-functions diffusion-models robotics safe-planning
Language:Python 44
mahaitongdae / safe_exp_env
Thrid-party safety-gym safe exploration environments for autonomous driving. Also environment used for IROS 2021 paper: Model-based Constrained Reinforcement Learning using Generalized Control Barrier Function
autonomous-driving control-barrier-functions reinforcement-learning
Language:Python 35
HybridRobotics / 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
optimization feasibility safety-critical-systems control-lyapunov-functions control-barrier-functions input-constraints
Language:MATLAB 32
Berk-Tosun / cbf-cartpole
Various Control Barrier Functions realized on cartpole.
cbf control-barrier-functions python cartpole lqr learning cbf-learning control robot dynamics safety-critical
Language:Python 25
JohannesAutenrieb / CBF_ACC
This collection of MATLAB scripts intends to study the performance of state-constrained controllers utilizing control barrier functions in the context of adaptive cruise control.
adaptive-cruise-control control-barrier-functions control-lyapunov-functions control-systems control-theory quadratic-programming safety-critical-control
Language:MATLAB 16
JohannesAutenrieb / CBF_Obstacle_Avoidance
This repository houses MATLAB code written to study CBF-based safety filters in the context of obstacle avoidance for 2D linear systems.
control-barrier-functions control-systems control-theory obstacle-avoidance quadratic-programming safety-critical-control state-constrained
Language:MATLAB 15
Safety-Critical-Control-WIRIN / sccav_cbf
Safety Critical Control of Autonomous Vehicles by Control Barrier Functions
control-systems control-barrier-functions safety-critical-systems safety-critical-control autonomous-driving autonomous-vehicles autonomous-car autonomous-agents robotics robot-control
Language:Python 15
shuoyang2000 / neural_hybrid_cbf
Code for "Learning Local Control Barrier Functions for Safety Control of Hybrid Systems"
autonomous-racing control-barrier-functions hybrid-systems machine-learning neural-pde
Language:Python 14
lihanlian / simple-mpc-cbf
Simple scripts that are used for solving motion planning & obstacle avoidance problems via Model Predictive Control (MPC) & Control Barrier Function (CBF).
control-barrier-functions motion-planning mpc obstacle-avoidance
Language:Jupyter Notebook 13
JohannesAutenrieb / 1D_MPC_CBF
The 1D_MPC_CBF repository houses a collection of MATLAB scripts written to study differnt state-constrained controllers.
control-barrier-functions control-systems control-th model-predictive-control safety-critical-control state-constrained
Language:MATLAB 11
Weixy21 / InvarianceNODE
On the forward invariance of Neural ODEs: performance guarantees for policy learning
control-barrier-functions invariance neural-odes performance-guarantees safety-critical-systems
Language:Python 9
tayalmanan28 / Stochastic-NCBF
[CDC 2024] Learning a Formally Verified Control Barrier Function in Stochastic Environment
cbf-learning control-barrier-functions neural-cbf stochastic-processes
Language:Python 8
Vikr-182 / uap-bev
UAP-BEV: Uncertainty Aware Planning in Bird's Eye View Generated from Monocular Images (CASE' 23)
cem control-barrier-functions mpc non-parametric uncertainty-neural-networks uncertainty-quantification
8
Berk-Tosun / cbf_segway
Control barrier functions implemented through python via pybullet.
cbf control-barrier-functions control-theory pybullet safety-critical safety-critical-control
Language:Jupyter Notebook 6
davidvwijk / DR-bCBF
Code base for disturbance-robust backup control barrier functions (DR-bCBFs).
control-barrier-functions nonlinear-control safety-critical-control spacecraft-dynamics-and-control
Language:Python 5
Weixy21 / Event-CBF
Safety-critical control for systems with unknown dynamics
control-barrier-functions event-triggered-control safety-critical-control unknown-dynamics
Language:MATLAB 5
davidvwijk / EconCBF
Optimal Control Theory and Stochastic Control Barrier Functions applied to Economics and Finance
control-barrier-functions economics finance optimal-control
Language:Python 3
tayalmanan28 / Safe-Legged-CollisionCone-CBF
The official Code for the paper "Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)"
cbf control-barrier-functions legged-robots safety-critical
Language:Python 3
rfgzuid / Capstone
Safe reinforcement learning with stochastic control barrier functions (TI3165TU Capstone project 2023-2024)
control-barrier-functions gymnasium reinforcement-learning safety bound-propagation
Language:Jupyter Notebook 2
tmgerst / Control_Barrier_Functions_for_Elastic_Actuators
Code for my bachelor thesis on "Control Barrier Functions for Learning-Based Regulation of Elastic Actuators with State Constraints".
control-barrier-function control-barrier-functions safe-control
Language:MATLAB 2
TragerJoswig-Jones / Safe-Current-Magnitude-Limit-Inverter-Control
Contains the code used to generate the results of the paper "Safe Control of Grid-Interfacing Inverters with Current Magnitude Limits"
control-theory grid-inverters inverter-control power-system-stability power-systems safe-control control-barrier-functions
Language:Jupyter Notebook 2
AtharvaJ11 / Control-Barrier-Gazebo
Control Barrier Function on Double Integrator robots
control-barrier-functions convex-optimization ros-noetic
Language:Jupyter Notebook 1

control-barrier-functions

HybridRobotics / CBF-CLF-Helper

HybridRobotics / NMPC-DCLF-DCBF

HybridRobotics / MPC-CBF

HybridRobotics / car-racing

elena-ecn / mpc-cbf

shaoanlu / mppi_cbf

Weixy21 / BarrierNet

MizuhoAOKI / control_barrier_function

buntonj / CLF-CBF-QP

Weixy21 / SafeDiffuser

mahaitongdae / safe_exp_env

HybridRobotics / CBF-Pointwise-Feasibility

Berk-Tosun / cbf-cartpole

JohannesAutenrieb / CBF_ACC

JohannesAutenrieb / CBF_Obstacle_Avoidance

Safety-Critical-Control-WIRIN / sccav_cbf

shuoyang2000 / neural_hybrid_cbf

lihanlian / simple-mpc-cbf

JohannesAutenrieb / 1D_MPC_CBF

Weixy21 / InvarianceNODE

tayalmanan28 / Stochastic-NCBF

Vikr-182 / uap-bev

Berk-Tosun / cbf_segway

davidvwijk / DR-bCBF

Weixy21 / Event-CBF

davidvwijk / EconCBF

tayalmanan28 / Safe-Legged-CollisionCone-CBF

rfgzuid / Capstone

tmgerst / Control_Barrier_Functions_for_Elastic_Actuators

TragerJoswig-Jones / Safe-Current-Magnitude-Limit-Inverter-Control

AtharvaJ11 / Control-Barrier-Gazebo