"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
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May 23, 2021 - MATLAB
"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
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
"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
Control barrier functions implemented through python via pybullet.
Safety Critical Control of Autonomous Vehicles by Control Barrier Functions
Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.
The 1D_MPC_CBF repository houses a collection of MATLAB scripts written to study differnt state-constrained controllers.
This repository houses MATLAB code written to study CBF-based safety filters in the context of obstacle avoidance for 2D linear systems.
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.
Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.
UAP-BEV: Uncertainty Aware Planning in Bird's Eye View Generated from Monocular Images (CASE 2023)
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
Code for "Learning Local Control Barrier Functions for Safety Control of Hybrid Systems" by S. Yang, Y. Chen, X. Yin, R. Mangharam
Optimal Control Theory and Stochastic Control Barrier Functions applied to Economics and Finance
Safety-critical control for systems with unknown dynamics
Safe reinforcement learning with stochastic control barrier functions (TI3165TU Capstone project 2023-2024)
Code for my bachelor thesis on "Control Barrier Functions for Learning-Based Regulation of Elastic Actuators with State Constraints".
A toolkit for testing control and planning algorithm for car racing.
Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.
Simple scripts that are used for solving motion planning & obstacle avoidance problem via MPC and control barrier function.
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