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)
☆300Updated 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…☆305Updated 3 years ago
- Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.☆347Updated last year
- This repository is an implementation of the work from Mohamed W. Mehrez. I convert the original code in MATLAB to the Python☆170Updated 9 months ago
- Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.☆180Updated 3 years ago
- An open source repository for control, planning and navigation about control barrier functions.☆207Updated last year
- This is a workshop on implementing model predictive control (MPC) and moving horizon estimation (MHE) on Matlab. The implementation is ba…☆401Updated 4 years ago
- A Parallel Optimization Toolkit for Nonlinear Model Predictive Control (NMPC)☆316Updated 3 months ago
- Real-time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms☆247Updated 9 months ago
- ☆41Updated 2 years ago
- This repo collets few LMPC examples coded in Python☆85Updated last year
- ☆334Updated 4 years ago
- Example implementation for robust model predictive control using tube☆572Updated 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 toolkit for testing control and planning algorithm for car racing.☆186Updated last year
- Robust Online Motion Planning using Contraction Theory☆62Updated 6 years ago
- Code for the book☆78Updated 2 years ago
- iterative Linear Quadratic Regulator with support for constraints on input and state variables via barrier functions—Numba-accelerated.☆240Updated 7 months ago
- Robust model predictive control for path tracking with obstacle avoidance☆104Updated 2 years ago
- MPC with Gaussian Process☆228Updated 6 years ago
- Code accompanying the RA-L / ICRA 2020 paper: "Online Trajectory Generation with Distributed Model Predictive Control for Multi-Robot Mot…☆115Updated 4 years ago
- Model predictive control (MPC) of an autonomous vehilcle for lane tracking and obstacle avoidance with ACADO toolkit☆113Updated last year
- Model Predictive Control for autonomous vehicle trajectory tracking control, in Matlab.☆306Updated 8 years ago
- C++/Eigen implementation of iLQR☆119Updated 7 years ago
- ☆77Updated last year
- This repository has the code for the nonlinear model predictive controller for target tracking problems with the use of Casadi framework …☆76Updated last year
- A non-linear trajectory optimization library developed by Optimus Ride, Inc. This library implements a C++ version of the original open-s…☆158Updated 3 years ago
- Implementation of several multiagent trajectory generation algorithms☆93Updated 6 years ago
- ☆50Updated last year
- Project for the course "Statistical Learning and Stochastic Control" at University of Stuttgart☆221Updated 5 years ago
- Multi-Purpose MPC for Reference Path Tracking, Time-Optimal Driving and Obstacle Avoidance☆326Updated 4 years ago