state-constrained

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

The 1D_MPC_CBF repository houses a collection of MATLAB scripts written to study differnt state-constrained controllers.

Repository associated with the paper "An Integrated Programmable CPG with Bounded Output" published in Transactions on Automatic Control, 2022

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