Status: The implementation code for corresponding papers will be merged here and new papers will be added in an inverse order of submission.
In this repository, a collection of our work is presented where nonlinear model predictive control (NMPC) with control Lyapunov functions (CLFs) and control barrier functions (CBFs) are applied.
If you find this project useful in your work, please consider citing following work:
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A. Thirugnanam, J. Zeng, K. Sreenath. "A Fast Computational Optimization for Control and Trajectory Planning for Obstacle Avoidance between Polytopes." submitted to 2022 IEEE International Conference on Robotics and Automation (ICRA). [arXiv] [Video] [Docs]
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J. Zeng, Z. Li, K. Sreenath. "Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions." 2021 IEEE Conference on Decision and Control (CDC). [arXiv] [Docs] [Code]
@inproceedings{zeng2021mpccbf-feasibility,
title={Enhancing feasibility and safety of nonlinear model predictive control with discrete-time control barrier functions},
author={Zeng, Jun and Li, Zhongyu and Sreenath, Koushil},
booktitle={2021 Conference on Decision and Control (CDC)},
year={2021},
volume={},
number={},
pages={6137-6144}
}
- J. Zeng, B. Zhang and K. Sreenath. "Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function." 2021 IEEE American Control Conference (ACC). [IEEE] [arXiv] [Docs] [Code]
@inproceedings{zeng2021mpccbf,
title={Safety-critical model predictive control with discrete-time control barrier function},
author={Zeng, Jun and Zhang, Bike and Sreenath, Koushil},
booktitle={2021 American Control Conference (ACC)},
year={2021},
volume={},
number={},
pages={3882-3889}
}