MIT-REALM / gcbfplus
Jax Official Implementation of T-RO Paper: Songyuan Zhang*, Oswin So*, Kunal Garg, Chuchu Fan: "GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control".
☆55Updated last week
Alternatives and similar repositories for gcbfplus:
Users that are interested in gcbfplus are comparing it to the libraries listed below
- PyTorch Official Implementation of CoRL 2023 Paper: Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-a…☆28Updated 9 months ago
- ☆32Updated 4 years ago
- PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL☆19Updated last week
- Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax …☆62Updated last week
- Control barrier function as safety filter☆25Updated 3 weeks ago
- ☆43Updated 3 months ago
- Repo for paper DATT: Deep Adaptive Trajectory Tracking for Quadrotor Drones☆51Updated 9 months ago
- Papers on Safety Critical Controls using Control Barrier Functions☆34Updated 4 months ago
- Implementation of implicit dual control-based active uncertainty learning for human-robot interaction - WAFR 2022 & IJRR 2023☆29Updated 8 months ago
- Algorithm Implementation of Distributed Potential iterative Linear Quadratic Regulator☆27Updated 2 years ago
- Auto-Multilift is a novel learning framework for cooperative load transportation with quadrotors. It can automatically tune various MPC h…☆22Updated this week
- Control Barrier Functions for Quadrotors, standalone with dynamics simulator, nominal controllers.☆59Updated 2 years ago
- A Python package to make implementing control barrier functions (CBFs) and control Lyapunov functions (CLFs) simple.☆17Updated 9 months ago
- ☆21Updated 4 years ago
- Various Control Barrier Functions realized on cartpole.☆24Updated 8 months ago
- Code for the paper "Control Barriers in Bayesian Learning of System Dynamics"☆26Updated 2 years ago
- ☆18Updated 2 years ago
- This is an unofficial python implement of nonlinear model predictive control with control Lyapunov functions and control barrier function…☆34Updated 3 years ago
- ☆14Updated 4 months ago
- Sampling-based Reachability Analysis: A Random Set Theory Approach with Adversarial Sampling☆11Updated 4 years ago
- Code of my CDC 2023 Paper: Nonlinear MPC for Quadrotors in Close-Proximity Flight with Neural Network Downwash Prediction☆24Updated last year
- ☆12Updated 3 months ago
- Control barrier function based motion planning☆16Updated 4 years ago
- Code for the paper "Deep Model Predictive Optimization"☆24Updated last year
- ☆69Updated 3 months ago
- "Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. L…☆28Updated 3 years ago
- Code for "Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter"☆20Updated last year
- Repository associated with paper titled "AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cl…☆40Updated last year
- A Python implmentation of the Dynamic Game SQP algorithm☆24Updated 9 months ago
- Lecture Slides, Personal Notes, Homework Solutions and Codes for ESE 619: Model Predictive Control 2023 Spring @ UPenn☆39Updated last year