HybridRobotics / MPC-CBFLinks
"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
☆280Updated 3 years ago
Alternatives and similar repositories for MPC-CBF
Users that are interested in MPC-CBF are comparing it to the libraries listed below
Sorting:
- A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control bar…☆281Updated last year
- Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.☆327Updated last year
- Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.☆159Updated 2 years ago
- This repository is an implementation of the work from Mohamed W. Mehrez. I convert the original code in MATLAB to the Python☆166Updated 5 months ago
- An open source repository for control, planning and navigation about control barrier functions.☆199Updated last year
- Real-time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms☆224Updated 5 months ago
- ☆307Updated 4 years ago
- A toolkit for testing control and planning algorithm for car racing.☆181Updated last year
- ☆40Updated 2 years ago
- This is a workshop on implementing model predictive control (MPC) and moving horizon estimation (MHE) on Matlab. The implementation is ba…☆384Updated 4 years ago
- iterative Linear Quadratic Regulator with support for constraints on input and state variables via barrier functions—Numba-accelerated.☆222Updated 3 months ago
- Get started with Reachability-based Trajectory Design for static obstacles☆61Updated 3 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
- This repo collets few LMPC examples coded in Python☆84Updated last year
- A Parallel Optimization Toolkit for Nonlinear Model Predictive Control (NMPC)☆315Updated 5 years ago
- Control Barrier Functions for Quadrotors, standalone with dynamics simulator, nominal controllers.☆65Updated 2 years ago
- Code accompanying the RA-L / ICRA 2020 paper: "Online Trajectory Generation with Distributed Model Predictive Control for Multi-Robot Mot…☆107Updated 4 years ago
- Robust model predictive control for path tracking with obstacle avoidance☆102Updated 2 years ago
- Robust Online Motion Planning using Contraction Theory☆59Updated 6 years ago
- MPC with Gaussian Process☆221Updated 6 years ago
- Use PyTorch Models with CasADi and Acados☆230Updated last year
- Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax …☆85Updated 6 months ago
- This repository has the code for the nonlinear model predictive controller for target tracking problems with the use of Casadi framework …☆70Updated last year
- C++/Eigen implementation of iLQR☆113Updated 6 years ago
- Implementation of several multiagent trajectory generation algorithms☆94Updated 6 years ago
- Safety-critical control for autonomous systems☆17Updated 2 years ago
- Toolkit for learning controllers based on robust control Lyapunov barrier functions☆171Updated last year
- 深蓝运动规划课程☆45Updated 4 years ago
- Example implementation for robust model predictive control using tube☆531Updated 4 years ago
- A non-linear trajectory optimization library developed by Optimus Ride, Inc. This library implements a C++ version of the original open-s…☆151Updated 2 years ago