saadejazz / mpc-trust-cbf
MPC with trust-based CBF constraints for safe robot navigation of autonmous systems
☆9Updated 5 months ago
Related projects: ⓘ
- A collection of examples for Stochastic MPC applied to Autonomous Vehicle Scenarios☆11Updated 10 months ago
- Code for "Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter"☆18Updated last year
- ☆25Updated 3 years ago
- Control barrier function based motion planning☆13Updated 4 years ago
- "Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions" by S. Liu, J. Zeng, …☆27Updated last year
- A chance constraint planning framework using gaussian processes☆11Updated 3 years ago
- Autonomous racing using ILQR and JAX.☆29Updated 2 months ago
- Dynamic obstacle avoidance for mobile robots by combining deep learning motion prediction and MPC trajectory generation.☆15Updated 2 weeks ago
- Towards safe and optimal trajectory tracking control.☆17Updated 10 months ago
- ☆9Updated 2 years ago
- Implementation of a multi-rate control architecture based on MPC and CBF☆16Updated 3 years ago
- [L-CSS 2023] Python companion code with JAX support for the publication in IEEE L-CSS 2023☆10Updated 3 months ago
- "Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions" by S. Liu, J. Zeng, …☆10Updated last year
- ☆8Updated 4 years ago
- Implementation of implicit dual control-based active uncertainty learning for human-robot interaction - WAFR 2022 & IJRR 2023☆24Updated 2 months ago
- Design of a game theoretic adaptive cruise control algorithm using a one player dynamic game model with full information structure and a …☆16Updated 2 years ago
- ☆28Updated 3 years ago
- This is an unofficial python implement of nonlinear model predictive control with control Lyapunov functions and control barrier function…☆27Updated 3 years ago
- Zero-Order Robust Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets☆19Updated last month
- Algorithm Implementation of Distributed Potential iterative Linear Quadratic Regulator☆24Updated last year
- Implementation of SHARP: Shielding-Aware Robust Planning for Safe and Efficient Human-Robot Interaction - RAL 2022☆29Updated last year
- Automatic Tuning for Data-driven Model Predictive Control☆30Updated last year
- RSS 2021: Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments☆25Updated 2 years ago
- PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL☆16Updated 2 months ago
- ☆13Updated 4 months ago
- Nonlinear Model Predictive Control for Self-Driving Vehicles based on Local Sequential Quadratic Programming by recursively calling ProxQ…☆13Updated last year
- Simulator for interacting dynamical systems using generalized potential games☆16Updated 2 years ago
- i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments (CDC 2023) https://arxiv.org/abs/2302.14246☆15Updated 6 months ago
- Game-Theoretic Control for Multi Robot Racing☆10Updated 2 years ago
- Safety Critical Control of Autonomous Vehicles by Control Barrier Functions☆11Updated 2 years ago