Topic: "control-barrier-functions"
HybridRobotics/CBF-CLF-Helper
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
Language: MATLAB - Size: 1.33 MB - Last synced at: 1 day ago - Pushed at: 11 months ago - Stars: 313 - Forks: 67
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)
Language: MATLAB - Size: 53.3 MB - Last synced at: about 2 hours ago - Pushed at: over 1 year ago - Stars: 267 - Forks: 47
HybridRobotics/car-racing
A toolkit for testing control and planning algorithm for car racing.
Language: Python - Size: 38.8 MB - Last synced at: about 2 months ago - Pushed at: about 1 year ago - Stars: 177 - Forks: 32
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
Size: 14.9 MB - Last synced at: over 1 year ago - Pushed at: over 3 years ago - Stars: 137 - Forks: 38
Weixy21/BarrierNet
Safe robot learning
Language: Python - Size: 3.65 MB - Last synced at: 6 months ago - Pushed at: 6 months ago - Stars: 70 - Forks: 18
shaoanlu/mppi_cbf
Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.
Language: Jupyter Notebook - Size: 34.5 MB - Last synced at: about 1 month ago - Pushed at: 3 months ago - Stars: 65 - Forks: 14
elena-ecn/mpc-cbf
Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.
Language: Python - Size: 66.9 MB - Last synced at: over 1 year ago - Pushed at: over 2 years ago - Stars: 41 - Forks: 11
Weixy21/SafeDiffuser
Safe Planning with Diffusion Probabilistic Models
Language: Python - Size: 9.18 MB - Last synced at: 19 days ago - Pushed at: 19 days ago - Stars: 25 - Forks: 4
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
Language: MATLAB - Size: 6.08 MB - Last synced at: almost 2 years ago - Pushed at: almost 4 years ago - Stars: 21 - Forks: 7
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
Language: Python - Size: 78.1 KB - Last synced at: about 2 years ago - Pushed at: almost 4 years ago - Stars: 20 - Forks: 2
Berk-Tosun/cbf-cartpole
Various Control Barrier Functions realized on cartpole.
Language: Python - Size: 5.07 MB - Last synced at: 11 months ago - Pushed at: 11 months ago - Stars: 19 - Forks: 4
MIT-REALM/dgppo
Official Implementation of ICLR2025 Paper: Songyuan Zhang, Oswin So, Mitchell Black, Chuchu Fan: "Discrete GCBF Proximal Policy Optimization for Multi-agent Safe Optimal Control".
Language: Python - Size: 38.2 MB - Last synced at: 5 days ago - Pushed at: 5 days ago - Stars: 14 - Forks: 2
buntonj/CLF-CBF-QP
Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.
Language: MATLAB - Size: 2.6 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 14 - Forks: 13
Weixy21/InvarianceNODE
On the forward invariance of Neural ODEs: performance guarantees for policy learning
Language: Python - Size: 2.94 MB - Last synced at: 9 months ago - Pushed at: 9 months ago - Stars: 9 - Forks: 2
Safety-Critical-Control-WIRIN/sccav_cbf
Safety Critical Control of Autonomous Vehicles by Control Barrier Functions
Language: Python - Size: 504 MB - Last synced at: about 1 year ago - Pushed at: over 2 years ago - Stars: 8 - Forks: 4
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).
Language: Jupyter Notebook - Size: 2.56 MB - Last synced at: 5 months ago - Pushed at: 5 months ago - Stars: 7 - Forks: 1
Berk-Tosun/cbf_segway
Control barrier functions implemented through python via pybullet.
Language: Jupyter Notebook - Size: 2.06 MB - Last synced at: almost 2 years ago - Pushed at: about 3 years ago - Stars: 6 - Forks: 0
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"
Language: Jupyter Notebook - Size: 1.69 MB - Last synced at: 2 months ago - Pushed at: 2 months ago - Stars: 2 - Forks: 1
davidvwijk/DR-bCBF
Code base for disturbance-robust backup control barrier functions (DR-bCBFs).
Language: Python - Size: 836 KB - Last synced at: 4 months ago - Pushed at: 4 months ago - Stars: 2 - Forks: 0
gianni0907/crowd_navigation_tiago
Repository containing a Python implementation of a sensor-based scheme for safe TIAGo navigation in a crowd
Language: Python - Size: 58.7 MB - Last synced at: 8 months ago - Pushed at: 8 months ago - Stars: 2 - Forks: 0
rfgzuid/Capstone
Safe reinforcement learning with stochastic control barrier functions (TI3165TU Capstone project 2023-2024)
Language: Jupyter Notebook - Size: 17.3 MB - Last synced at: 3 months ago - Pushed at: about 1 year ago - Stars: 2 - Forks: 0
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.
Language: MATLAB - Size: 2.61 MB - Last synced at: over 1 year ago - Pushed at: almost 2 years ago - Stars: 2 - Forks: 1
FilippoAiraldi/mpcrl-cbf
Model Predictive Control-based Reinforcement Learning with Control Barrier Functions
Language: Python - Size: 148 MB - Last synced at: about 1 month ago - Pushed at: about 1 month ago - Stars: 1 - Forks: 0
davidvwijk/EconCBF
Optimal Control Theory and Stochastic Control Barrier Functions applied to Economics and Finance
Language: Python - Size: 10.3 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 1 - Forks: 1
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
Language: Python - Size: 35.2 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 1 - Forks: 0
Vikr-182/uap-bev
UAP-BEV: Uncertainty Aware Planning in Bird's Eye View Generated from Monocular Images (CASE 2023)
Size: 2.34 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 1 - Forks: 0
tayalmanan28/ma-neural-cbf Fork of MIT-REALM/macbf
Learning Safe Multi-Agent Control with Decentralized Neural Barrier Certificates
Language: Python - Size: 1.58 MB - Last synced at: about 2 years ago - Pushed at: almost 3 years ago - Stars: 1 - Forks: 0
AtharvaJ11/control_barrier_functions_py_sim
Python Simulator for Control Barrier function verification
Language: Python - Size: 463 KB - Last synced at: 3 months ago - Pushed at: 3 months ago - Stars: 0 - Forks: 0
Weixy21/Event-CBF
Safety-critical control for systems with unknown dynamics
Language: MATLAB - Size: 53.7 KB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 0 - Forks: 0