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 216
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 189
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
177
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 152
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 67
Weixy21 / BarrierNet
Safe robot learning
control-barrier-functions differentiable-optimization end-to-end-learning visual-servoing safety-critical-systems robot-learning
Language:Python 47
MizuhoAOKI / control_barrier_function
control barrier function examples
control-barrier-functions
Language:Jupyter Notebook 33
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 27
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 23
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 21
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 20
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 19
Safety-Critical-Control-WIRIN / sccav_cbf
Safety Critical Control of Autonomous Vehicles by Control Barrier Functions
autonomous-agents autonomous-car autonomous-driving autonomous-vehicles control-barrier-functions control-systems robot-control robotics safety-critical-control safety-critical-systems
Language:Python 8
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 7
Berk-Tosun / cbf_segway
Control barrier functions implemented through python via pybullet.
control-barrier-functions cbf pybullet safety-critical safety-critical-control control-theory
Language:Jupyter Notebook 6
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 model-predictive-control safety-critical-control state-constrained control-th
Language:MATLAB 5
shuoyang2000 / neural_hybrid_cbf
Code for "Learning Local Control Barrier Functions for Safety Control of Hybrid Systems" by S. Yang, Y. Chen, X. Yin, R. Mangharam
autonomous-racing control-barrier-functions hybrid-systems machine-learning neural-pde
Language:Python 5
Vikr-182 / uap-bev
UAP-BEV: Uncertainty Aware Planning in Bird's Eye View Generated from Monocular Images (CASE 2023)
cem control-barrier-functions mpc non-parametric uncertainty-neural-networks uncertainty-quantification
5
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 3
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 3
davidvwijk / EconCBF
Optimal Control Theory and Stochastic Control Barrier Functions applied to Economics and Finance
control-barrier-functions economics finance optimal-control
Language:Python 2
gianni0907 / crowd_navigation_tiago
Repository containing a Python implementation of a sensor-based scheme for safe TIAGo navigation in a crowd
control-barrier-functions nonlinear-model-predictive-control
Language:Python 1
Weixy21 / Event-CBF
Safety-critical control for systems with unknown dynamics
control-barrier-functions event-triggered-control safety-critical-control unknown-dynamics
Language:MATLAB 1
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

control-barrier-functions

HybridRobotics / CBF-CLF-Helper

HybridRobotics / NMPC-DCLF-DCBF

HybridRobotics / MPC-CBF

HybridRobotics / car-racing

elena-ecn / mpc-cbf

Weixy21 / BarrierNet

MizuhoAOKI / control_barrier_function

mahaitongdae / safe_exp_env

HybridRobotics / CBF-Pointwise-Feasibility

buntonj / CLF-CBF-QP

shaoanlu / mppi_cbf

Berk-Tosun / cbf-cartpole

Safety-Critical-Control-WIRIN / sccav_cbf

Weixy21 / InvarianceNODE

Berk-Tosun / cbf_segway

JohannesAutenrieb / 1D_MPC_CBF

shuoyang2000 / neural_hybrid_cbf

Vikr-182 / uap-bev

JohannesAutenrieb / CBF_ACC

JohannesAutenrieb / CBF_Obstacle_Avoidance

davidvwijk / EconCBF

gianni0907 / crowd_navigation_tiago

Weixy21 / Event-CBF

rfgzuid / Capstone