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CBF-CLF-Helper HybridRobotics

65

264

unknown

7

Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.

cbf clf matlab control-theory safety-critical control-barrier-functions control-lyapunov-functions

Created 2020-08-21

26 commits to master branch, last one 4 months ago

NMPC-DCLF-DCBF HybridRobotics

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228

mit

8

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

ipopt matlab mpc-control quadratic-programming nonlinear-optimization safety-critical-systems model-predictive-control control-barrier-functions control-lyapunov-functions obstacle-avoidance-algorithm

Created 2021-06-09

23 commits to master branch, last one about a year ago

car-racing HybridRobotics

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167

mit

8

A toolkit for testing control and planning algorithm for car racing.

casadi learning car-racing simulation obstacle-avoidance nonlinear-optimization optimization-algorithms trajectory-optimization model-predictive-control control-barrier-functions

Created 2021-02-04

78 commits to master branch, last one 7 months ago

mpc-cbf elena-ecn

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114

mit

1

Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.

mpc robotics optimization safety-critical-control control-barrier-functions

Created 2022-10-26

37 commits to main branch, last one about a year ago

BarrierNet Weixy21

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70

mit

4

Safe robot learning

robot-learning visual-servoing end-to-end-learning safety-critical-systems control-barrier-functions differentiable-optimization

Created 2021-12-03

31 commits to main branch, last one a day ago

mppi_cbf shaoanlu

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45

mit

2

Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.

jax mppi safety-filter model-predictive-control control-barrier-functions

Created 2023-10-11

56 commits to main branch, last one 6 months ago

control_barrier_function MizuhoAOKI

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40

mit

1

control barrier function examples

control-barrier-functions

Created 2024-04-13

8 commits to main branch, last one 2 months ago