Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.
☆183Dec 24, 2022Updated 3 years ago
Alternatives and similar repositories for mpc-cbf
Users that are interested in mpc-cbf are comparing it to the libraries listed below
Sorting:
- "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
- Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax …☆122Nov 11, 2025Updated 3 months ago
- The code will soon be open source.☆282Sep 12, 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
- A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control bar…☆307Nov 9, 2023Updated 2 years ago
- Safety Critical Control of Autonomous Vehicles by Control Barrier Functions☆16Sep 9, 2022Updated 3 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
- Implementation of a multi-rate control architecture based on MPC and CBF☆25Feb 20, 2021Updated 5 years ago
- An open source repository for control, planning and navigation about control barrier functions.☆212Feb 22, 2024Updated 2 years ago
- Implementation of the Online Adaptive CBF for safety-critical navigation for input constrained systems.☆56Dec 12, 2025Updated 2 months ago
- A toolkit for testing control and planning algorithm for car racing.☆186Apr 19, 2024Updated last year
- Safety-critical controllers for single/multi robotic navigation: CBF-QP, MPC-CBF, and etc.☆200Feb 25, 2026Updated last week
- Simple scripts that are used for solving motion planning & obstacle avoidance problems via Model Predictive Control (MPC) & Control Barri…☆17Dec 8, 2024Updated last year
- Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.☆356Jun 30, 2024Updated last year
- ☆31Jun 19, 2022Updated 3 years ago
- ☆58Jan 23, 2025Updated last year
- DC-TMPC: A tube-based MPC algorithm for systems that can be expressed as a difference of convex functions.☆21Jul 28, 2022Updated 3 years ago
- 搭建ros-gazebo仿真环境，测试mpc-cbf在动态环境下规避障碍物的效果☆37Aug 8, 2024Updated last year
- Safety-critical control for autonomous systems☆26Aug 11, 2023Updated 2 years ago
- Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.☆50Oct 3, 2023Updated 2 years ago
- Safe robot learning☆105Nov 21, 2024Updated last year
- Robust model predictive control for path tracking with obstacle avoidance☆107Feb 23, 2023Updated 3 years ago
- An MPC approach for motion planning of non-holonomic mobile systems in dynamic scenarios☆35Jun 23, 2024Updated last year
- Official code repository for "Integrating Predictive Motion Uncertainties with Distributionally Robust Risk-Aware Control for Safe Robot …☆33Nov 20, 2024Updated last year
- Fault-Tolerant Neural CBF☆14Feb 23, 2024Updated 2 years ago
- Implementation of Hierarchical MPC with RAID-Net☆17Jan 22, 2025Updated last year
- Model Predictive Contouring Control for multi-rotors with ACADO Toolkit☆25Mar 26, 2025Updated 11 months ago
- ☆33May 13, 2021Updated 4 years ago
- Papers on Safety Critical Controls using Control Barrier Functions☆53Oct 30, 2024Updated last year
- CDC2024_submission_repository☆47Jul 28, 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
- MPC with trust-based CBF constraints for safe robot navigation of autonomous systems☆17Mar 22, 2025Updated 11 months ago
- The Visibility-Aware RRT* implementation for safety-critical navigation with perception-limited robots.☆59Jan 15, 2026Updated last month
- A differentiable collision-free corridor generator.☆62Dec 16, 2024Updated last year
- "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
- ☆45Jun 29, 2022Updated 3 years ago
- This is a python repo that implements control barrier function quadratic programming method.☆15Dec 6, 2021Updated 4 years ago
- Multi-Purpose MPC for Reference Path Tracking, Time-Optimal Driving and Obstacle Avoidance☆334Oct 20, 2021Updated 4 years ago
- Code for "Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter"☆23May 24, 2023Updated 2 years ago