HybridRobotics / NMPC-DCLF-DCBFLinks
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
☆296Updated 2 years ago
Alternatives and similar repositories for NMPC-DCLF-DCBF
Users that are interested in NMPC-DCLF-DCBF are comparing it to the libraries listed below
Sorting:
- "Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv…☆297Updated 3 years ago
- Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.☆342Updated last year
- This repository is an implementation of the work from Mohamed W. Mehrez. I convert the original code in MATLAB to the Python☆169Updated 7 months ago
- Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.☆173Updated 2 years ago
- This is a workshop on implementing model predictive control (MPC) and moving horizon estimation (MHE) on Matlab. The implementation is ba…☆396Updated 4 years ago
- An open source repository for control, planning and navigation about control barrier functions.☆205Updated last year
- A Parallel Optimization Toolkit for Nonlinear Model Predictive Control (NMPC)☆314Updated 2 months ago
- ☆41Updated 2 years ago
- Real-time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms☆236Updated 8 months ago
- "Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. L…☆32Updated 4 years ago
- This repo collets few LMPC examples coded in Python☆85Updated last year
- ☆327Updated 4 years ago
- Example implementation for robust model predictive control using tube☆553Updated 4 years ago
- A toolkit for testing control and planning algorithm for car racing.☆185Updated last year
- Code accompanying the RA-L / ICRA 2020 paper: "Online Trajectory Generation with Distributed Model Predictive Control for Multi-Robot Mot…☆115Updated 4 years ago
- Code for the book☆77Updated 2 years ago
- Model predictive control (MPC) of an autonomous vehilcle for lane tracking and obstacle avoidance with ACADO toolkit☆113Updated last year
- The reproduction of tube-based MPC for nonlinear systems☆51Updated last year
- Robust Online Motion Planning using Contraction Theory☆62Updated 6 years ago
- Project for the course "Statistical Learning and Stochastic Control" at University of Stuttgart☆221Updated 5 years ago
- Robust model predictive control for path tracking with obstacle avoidance☆103Updated 2 years ago
- iterative Linear Quadratic Regulator with support for constraints on input and state variables via barrier functions—Numba-accelerated.☆230Updated 6 months ago
- Get started with Reachability-based Trajectory Design for static obstacles☆61Updated 3 years ago
- Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.☆48Updated 2 years ago
- ☆50Updated last year
- ☆76Updated last year
- C++/Eigen implementation of iLQR☆118Updated 6 years ago
- Model Predictive Control for autonomous vehicle trajectory tracking control, in Matlab.☆296Updated 8 years ago
- Implementation of several multiagent trajectory generation algorithms☆93Updated 6 years ago
- Various implementations of the convex feasible set algorithm (CFS).☆80Updated 6 years ago