HybridRobotics / Iterative-MPC-DHOCBF
"Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions" by S. Liu, J. Zeng, K. Sreenath and C. Belta http://arxiv.org/pdf/2210.04361.pdf
☆10Updated last year
Related projects ⓘ
Alternatives and complementary repositories for Iterative-MPC-DHOCBF
- Zero-Order Robust Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets☆20Updated 3 months ago
- Automatic Tuning for Data-driven Model Predictive Control☆33Updated last year
- i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments (CDC 2023) https://arxiv.org/abs/2302.14246☆16Updated 7 months ago
- A collection of examples for Stochastic MPC applied to Autonomous Vehicle Scenarios☆11Updated last year
- ☆23Updated 5 months ago
- A Python implmentation of the Dynamic Game SQP algorithm☆22Updated 5 months ago
- Code for "Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter"☆20Updated last year
- Safety-critical controllers for single/multi robotic navigation: CBF-QP, MPC-CBF, and etc.☆23Updated last month
- Code for “Signal Temporal Logic meets Hamilton-Jacobi Reachability: Connections and Applications” by Mo Chen, Qizhan Tam, Scott C. Living…☆13Updated 6 years ago
- ☆9Updated 3 years ago
- "Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions" by S. Liu, J. Zeng, …☆29Updated last year
- ☆25Updated 3 years ago
- Autonomous racing using ILQR and JAX.☆31Updated 4 months ago
- An inverse game solver for inferring objectives from noise-corrupted partial state observations of non-cooperative multi-agent interactio…☆23Updated last year
- Non-Gaussian Risk Bounded Trajectory Optimization for StochasticNonlinear Systems in Uncertain Environments☆33Updated 2 years ago
- ☆12Updated 2 years ago
- SIA - C++/Python library for model-based stochastic estimation and optimal control☆19Updated 7 months ago
- LAMPOS, a strategy-based solution approach for mp-MILPs for real-time mixed-integer MPC with sub-optimality quantification☆11Updated last year
- Design of a game theoretic adaptive cruise control algorithm using a one player dynamic game model with full information structure and a …☆16Updated 2 years ago
- Implementation of a multi-rate control architecture based on MPC and CBF☆16Updated 3 years ago
- MPC with trust-based CBF constraints for safe robot navigation of autonmous systems☆10Updated 7 months ago
- This is the code repository of a tutorial overview of Path Integral (PI) approaches for stochastic optimal control and trajectory optimiz…☆15Updated last year
- ☆15Updated last year
- Risk-averse trajectory optimization☆16Updated last year
- High-level Python Particle Sequential Convex Programming Model Predictive Control (SCP PMPC) interface☆13Updated last year
- code for "Search-based task and motion planning for hybrid systems: Agile autonomous vehicles"☆27Updated last month
- MIT 16.S498: Risk Aware and Robust Nonlinear Planning (rarnop) by Ashkan Jasour☆64Updated 2 years ago
- Using Differential Dynamic Programming (DDP) to control various dynamical systems.☆21Updated 4 years ago
- Algorithm Implementation of Distributed Potential iterative Linear Quadratic Regulator☆24Updated last year
- Repository for computing the probability distribution of an optimal control problem☆11Updated 3 years ago