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

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

"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

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

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

Safe robot learning

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

control barrier function examples

Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.

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 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

Various Control Barrier Functions realized on cartpole.

Safety Critical Control of Autonomous Vehicles by Control Barrier Functions

This repository houses MATLAB code written to study CBF-based safety filters in the context of obstacle avoidance for 2D linear systems.

Code for "Learning Local Control Barrier Functions for Safety Control of Hybrid Systems"

On the forward invariance of Neural ODEs: performance guarantees for policy learning

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.

UAP-BEV: Uncertainty Aware Planning in Bird's Eye View Generated from Monocular Images (CASE' 23)

Control barrier functions implemented through python via pybullet.

Simple scripts that are used for solving motion planning & obstacle avoidance problems via Model Predictive Control (MPC) & Control Barrier Function (CBF).