An open source repository for control, planning and navigation about control barrier functions.
☆212Feb 22, 2024Updated 2 years ago
Alternatives and similar repositories for cbf
Users that are interested in 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…☆305Nov 9, 2023Updated 2 years ago
- "Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv…☆314Jan 21, 2022Updated 4 years ago
- Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.☆355Jun 30, 2024Updated last year
- A toolkit for testing control and planning algorithm for car racing.☆186Apr 19, 2024Updated last year
- Control Barrier Functions for Quadrotors, standalone with dynamics simulator, nominal controllers.☆66Dec 24, 2022Updated 3 years ago
- Control barrier function based motion planning☆18Apr 4, 2020Updated 5 years ago
- This is an unofficial python implement of nonlinear model predictive control with control Lyapunov functions and control barrier function…☆39Aug 25, 2021Updated 4 years ago
- Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.☆183Dec 24, 2022Updated 3 years ago
- "Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. L…☆32May 23, 2021Updated 4 years ago
- The code will soon be open source.☆282Sep 12, 2023Updated 2 years ago
- Toolkit for learning controllers based on robust control Lyapunov barrier functions☆181Jul 10, 2024Updated last year
- Code for "Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter"☆22May 24, 2023Updated 2 years ago
- Various Control Barrier Functions realized on cartpole.☆25Jun 29, 2024Updated last year
- [IEEE RA-L 2023] Official Implementation of Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrie…☆36Mar 8, 2025Updated 11 months ago
- A Python package to make implementing control barrier functions (CBFs) and control Lyapunov functions (CLFs) simple.☆20May 13, 2024Updated last year
- Official code for "Density Planner: Minimizing Collision Risk in Motion Planning with Dynamic Obstacles using Density-based Reachability"☆30Aug 1, 2023Updated 2 years ago
- ☆33May 13, 2021Updated 4 years ago
- "Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions" by S. Liu, J. Zeng, …☆40Mar 11, 2023Updated 2 years ago
- Robot control with Traditional control and Optimal control and Learning-based control☆10Oct 9, 2022Updated 3 years ago
- Autonomous racing using ILQR and JAX.☆38Jun 24, 2024Updated last year
- i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments (CDC 2023) https://arxiv.org/abs/2302.14246☆21Mar 18, 2024Updated last year
- Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.☆50Oct 3, 2023Updated 2 years ago
- Toolbox for Robotics Control☆86Feb 17, 2026Updated last week
- PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL☆842Nov 6, 2025Updated 3 months ago
- Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax …☆121Nov 11, 2025Updated 3 months ago
- ☆58Jan 23, 2025Updated last year
- "Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions" by S. Liu, J. Zeng, …☆12Mar 11, 2023Updated 2 years ago
- ☆117Jan 2, 2023Updated 3 years ago
- Code for the paper "Control Barriers in Bayesian Learning of System Dynamics"☆29Oct 18, 2022Updated 3 years ago
- ROS-based C++ segway simulation environment. Includes branches for MPC and control barrier functions. New version of cyberpod_sim_ros.☆26Dec 2, 2020Updated 5 years ago
- ICRA 2024 | Decentralized Multi-Agent Trajectory Planning in Dynamic Environments with Spatiotemporal Occupancy Grid Maps☆120Sep 3, 2024Updated last year
- This is a python repo that implements control barrier function quadratic programming method.☆15Dec 6, 2021Updated 4 years ago
- Safety Critical Control of Autonomous Vehicles by Control Barrier Functions☆16Sep 9, 2022Updated 3 years ago
- Jax Official Implementation of T-RO Paper: Songyuan Zhang*, Oswin So*, Kunal Garg, Chuchu Fan: "GCBF+: A Neural Graph Control Barrier Fun…☆110Jun 3, 2025Updated 8 months ago
- Code needed to reproduce the examples found in "Learning Control Barrier Functions from Expert Demonstrations," by A. Robey, H. Hu, L. Li…☆73Aug 13, 2023Updated 2 years ago
- Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems (RA-L 2023)☆19Jul 20, 2025Updated 7 months ago
- Implementation of a multi-rate control architecture based on MPC and CBF☆25Feb 20, 2021Updated 5 years ago
- This repository houses MATLAB code written to study CBF-based safety filters in the context of obstacle avoidance for 2D linear systems.☆15Aug 9, 2025Updated 6 months ago
- Efficient optimal control solvers for robotic systems.☆309Dec 22, 2022Updated 3 years ago