HybridRobotics / cbf
An open source repository for control, planning and navigation about control barrier functions.
☆165Updated 8 months ago
Related projects ⓘ
Alternatives and complementary repositories for cbf
- Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.☆111Updated last year
- "Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv…☆213Updated 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☆142Updated last year
- A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control bar…☆221Updated last year
- Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.☆257Updated 4 months ago
- Get started with Reachability-based Trajectory Design for static obstacles☆62Updated 2 years ago
- Control Barrier Functions for Quadrotors, standalone with dynamics simulator, nominal controllers.☆54Updated last year
- ROS implementation for omnidirectional mobile robot tracking and navigation using Nonlinear MPC based on CasADi toolkit☆38Updated 2 years ago
- Collision avoidance for mavs in dynamic environments using model predictive control☆84Updated 4 years ago
- A toolkit for testing control and planning algorithm for car racing.☆166Updated 6 months ago
- Papers on Safety Critical Controls using Control Barrier Functions☆15Updated last week
- Real-time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms☆162Updated last year
- Implementation of several multiagent trajectory generation algorithms☆90Updated 5 years ago
- A basic nonlinear model predictive control implementation using Casadi with Unscented Kalman filter state estimation☆47Updated 3 years ago
- Robust Online Motion Planning using Contraction Theory☆53Updated 5 years ago
- This repo collets few LMPC examples coded in Python☆81Updated 4 months ago
- A non-linear trajectory optimization library developed by Optimus Ride, Inc. This library implements a C++ version of the original open-s…☆125Updated 2 years ago
- Code accompanying the RA-L / ICRA 2020 paper: "Online Trajectory Generation with Distributed Model Predictive Control for Multi-Robot Mot…☆95Updated 3 years ago
- Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax …☆43Updated 5 months ago
- ☆115Updated last year
- "Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. L…☆26Updated 3 years ago
- ROS stack with an efficient real-time NMPC for the Crazyflie 2.1☆94Updated 4 months ago
- ☆33Updated last year
- Toolbox for Robotics Control☆55Updated 3 weeks ago
- C++/Eigen implementation of iLQR☆101Updated 5 years ago
- Toolkit for learning controllers based on robust control Lyapunov barrier functions☆137Updated 3 months ago
- Using RL based controller for steering function of RRT. And a network learns to perform motion planning☆29Updated 4 years ago
- This is an unofficial python implement of nonlinear model predictive control with control Lyapunov functions and control barrier function…☆28Updated 3 years ago
- iterative Linear Quadratic Regulator with constraints.☆181Updated 4 months ago
- Nonlinear MPCC for autonomous driving of F1/10 cars☆77Updated 3 years ago