Control Barrier Function on Double Integrator robots
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Updated
Jul 2, 2024 - Jupyter Notebook
Control Barrier Function on Double Integrator robots
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
Various Control Barrier Functions realized on cartpole.
Repository containing a Python implementation of a sensor-based scheme for safe TIAGo navigation in a crowd
Safe robot learning
Simple scripts that are used for solving motion planning & obstacle avoidance problem via MPC and control barrier function.
Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.
A toolkit for testing control and planning algorithm for car racing.
Code for my bachelor thesis on "Control Barrier Functions for Learning-Based Regulation of Elastic Actuators with State Constraints".
Safe reinforcement learning with stochastic control barrier functions (TI3165TU Capstone project 2023-2024)
Safety-critical control for systems with unknown dynamics
Optimal Control Theory and Stochastic Control Barrier Functions applied to Economics and Finance
Code for "Learning Local Control Barrier Functions for Safety Control of Hybrid Systems" by S. Yang, Y. Chen, X. Yin, R. Mangharam
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
UAP-BEV: Uncertainty Aware Planning in Bird's Eye View Generated from Monocular Images (CASE 2023)
Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.
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.
This repository houses MATLAB code written to study CBF-based safety filters in the context of obstacle avoidance for 2D linear systems.
The 1D_MPC_CBF repository houses a collection of MATLAB scripts written to study differnt state-constrained controllers.
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