HybridRobotics / Iterative-MPC-DHOCBFLinks
"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
Sorting:
- "Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions" by S. Liu, J. Zeng, …☆36Updated 2 years ago
- Zero-Order Robust Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets☆24Updated last year
- Matlab toolbox for computing terminal costs and sets for stabilizing nonlinear MPC☆15Updated 2 years ago
- Code for "Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter"☆20Updated 2 years ago
- Implementation of implicit dual control-based active uncertainty learning for human-robot interaction - WAFR 2022 & IJRR 2023☆34Updated last year
- 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
- Using Differential Dynamic Programming (DDP) to control various dynamical systems.☆22Updated 5 years ago
- Code needed to reproduce examples in "Robust Closed-loop Model Predictive Control via System Level Synthesis," by S. Chen, H. Wang, M. Mo…☆30Updated 5 years ago
- MPC with trust-based CBF constraints for safe robot navigation of autonomous systems☆17Updated 5 months ago
- MIT 16.S498 Graduate Course: Risk Aware and Robust Nonlinear Planning (rarnop) by Ashkan Jasour☆64Updated 4 months ago
- i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments (CDC 2023) https://arxiv.org/abs/2302.14246☆18Updated last year
- Chance-Constrained Sequential Convex Programming for Robust Trajectory Optimization☆31Updated 4 years ago
- "Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. L…☆31Updated 4 years ago
- A basic nonlinear model predictive control implementation using Casadi with Unscented Kalman filter state estimation☆50Updated 4 years ago
- PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL☆20Updated 2 weeks ago
- Sampling based GP MPC☆32Updated last month
- ☆18Updated 7 years ago
- Design of a game theoretic adaptive cruise control algorithm using a one player dynamic game model with full information structure and a …☆17Updated 3 years ago
- Sequential Convex Programming For Non-Linear Stochastic Optimal Control☆12Updated 2 years ago
- Safety Critical Control of Autonomous Vehicles by Control Barrier Functions☆15Updated 3 years ago
- Simulator for interacting dynamical systems using generalized potential games☆18Updated 3 years ago
- A Python implmentation of the Dynamic Game SQP algorithm☆30Updated last year
- Automatic Tuning for Data-driven Model Predictive Control☆46Updated 2 years ago
- This is a python repo that implements control barrier function quadratic programming method.☆14Updated 3 years ago
- Official code implementation for "Efficient and Distributed Multi-Agent Interactive Trajectory Optimization via ADMM and Dynamic Potentia…☆18Updated last year
- Non-Linear L1-Adaptive Model Predictive Control of a Micro 3D Helicopter☆15Updated 3 years ago
- Python code of the paper "Efficient Calibration of Embedded MPC" (2020 IFAC World Congress) by Marco Forgione, Dario Piga, and Alberto Be…☆25Updated 4 years ago
- ☆10Updated 6 months ago
- Matlab Code base for T-RO 20 paper on robust Control Barrier Functions (CBFs) with Gaussian Process Regression for estimating the disturb…☆17Updated 3 years ago
- Implementation of a multi-rate control architecture based on MPC and CBF☆21Updated 4 years ago