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
☆12Updated 2 years ago
Alternatives and similar repositories for Iterative-MPC-DHOCBF:
Users that are interested in Iterative-MPC-DHOCBF are comparing it to the libraries listed below
- Zero-Order Robust Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets☆23Updated 8 months ago
- "Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions" by S. Liu, J. Zeng, …☆34Updated 2 years ago
- Implementation of implicit dual control-based active uncertainty learning for human-robot interaction - WAFR 2022 & IJRR 2023☆30Updated 9 months ago
- Design of a game theoretic adaptive cruise control algorithm using a one player dynamic game model with full information structure and a …☆16Updated 3 years ago
- Code for "Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter"☆20Updated last year
- Implementation of a multi-rate control architecture based on MPC and CBF☆18Updated 4 years ago
- Chance-Constrained Sequential Convex Programming for Robust Trajectory Optimization☆26Updated 4 years ago
- Sampling based GP MPC☆25Updated this week
- ☆27Updated 3 years ago
- Simulator for interacting dynamical systems using generalized potential games☆16Updated 2 years ago
- This is the MATLAB code for a brief tutorial for Model Predictive Control (MPC) for a linear discrete-time system with constrained states…☆41Updated last year
- Matlab toolbox for computing terminal costs and sets for stabilizing nonlinear MPC☆16Updated 2 years ago
- MPC with trust-based CBF constraints for safe robot navigation of autonmous systems☆13Updated last week
- Convex hulls of reachable sets☆10Updated last year
- ☆17Updated last year
- Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.☆42Updated last year
- Tube-certified nonlinear tracking with robust control contraction metrics☆25Updated last year
- i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments (CDC 2023) https://arxiv.org/abs/2302.14246☆18Updated last year
- Autonomous racing using ILQR and JAX.☆34Updated 9 months ago
- ☆12Updated 2 years ago
- ☆9Updated 3 years ago
- A repo to house the code for the submission "Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and…☆11Updated last year
- Control barrier function based motion planning☆17Updated 4 years ago
- Using Differential Dynamic Programming (DDP) to control various dynamical systems.☆22Updated 4 years ago
- Control Of Mobile Robotics Using Barrier Functions And Temporal Logic☆20Updated 4 years ago
- This repository houses MATLAB code written to study CBF-based safety filters in the context of obstacle avoidance for 2D linear systems.☆12Updated last year
- "Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. L…☆29Updated 3 years ago
- Code for “Signal Temporal Logic meets Hamilton-Jacobi Reachability: Connections and Applications” by Mo Chen, Qizhan Tam, Scott C. Living…☆14Updated 6 years ago
- This collection of MATLAB scripts intends to study the performance of state-constrained controllers utilizing control barrier functions i…☆14Updated last year
- Official code implementation for "Efficient and Distributed Multi-Agent Interactive Trajectory Optimization via ADMM and Dynamic Potentia…☆16Updated last year