4 results found Sort:

HybridRobotics
CBF-CLF-Helper HybridRobotics
63
275
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 5 months ago
HybridRobotics
NMPC-DCLF-DCBF HybridRobotics
46
237
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
YaChienChang
Neural-Lyapunov-Control YaChienChang
30
122
unknown
4
Learning Lyapunov functions and control policies of nonlinear dynamical systems
clf neural-lyapunov-function control-lyapunov-functions
Created 2019-10-18
14 commits to master branch, last one 3 years ago
UMich-BipedLab
CLF_reactive_planning_system UMich-BipedLab
12
56
agpl-3.0
6
This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning system c...
rrt biped robot cassie terrain autonomy robotics rrt-star navigation pathfinder pathfinding cassie-robot path-planning route-planner bipedal-robots route-planning motion-planning reactive-planner autonomous-navigation control-lyapunov-functions
Created 2021-06-10
3 commits to release_v0 branch, last one 2 years ago