tmwangcas / control-limited-iterative-lqr
Implementation of an iterative linear quadratic regular (iLQR) on inverted pendulum, box quadratic programming (box-QP) is used to deal with the control limits.
☆10Updated 6 years ago
Related projects: ⓘ
- Robot Controls Course Project☆52Updated 2 years ago
- We use reachability to ensure the safety of a decision agent acting on a dynamic system in real-time. We compute the Forward Reachable Se…☆30Updated 3 years ago
- ☆28Updated 3 years ago
- Control Barrier Functions for Quadrotors, standalone with dynamics simulator, nominal controllers.☆55Updated last year
- Control barrier function based motion planning☆13Updated 4 years ago
- Various Control Barrier Functions realized on cartpole.☆21Updated 2 months ago
- Code needed to reproduce the examples found in "Learning Control Barrier Functions from Expert Demonstrations," by A. Robey, H. Hu, L. Li…☆54Updated last year
- C++ implementation of iLQR☆12Updated 7 years ago
- Implementations of the iLQR algorithm☆30Updated 7 years ago
- Code for the paper "Control Barriers in Bayesian Learning of System Dynamics"☆22Updated last year
- ☆22Updated last year
- This is an unofficial python implement of nonlinear model predictive control with control Lyapunov functions and control barrier function…☆27Updated 3 years ago
- ROS-based C++ segway simulation environment. Includes branches for MPC and control barrier functions. New version of cyberpod_sim_ros.☆25Updated 3 years ago
- Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax …☆37Updated 4 months ago
- Linear Temporal Logic Motion Planning with Graphs of Convex Sets☆37Updated last year
- Code for the paper "Deep Model Predictive Optimization"☆17Updated 11 months ago
- Robust Online Motion Planning using Contraction Theory☆53Updated 5 years ago
- ☆25Updated 3 years ago
- Safety-aware MPC-based RL framework☆43Updated 2 months ago
- Get started with Reachability-based Trajectory Design for static obstacles☆62Updated 2 years ago
- ☆19Updated 3 months ago
- ☆67Updated 5 years ago
- Learning Certified Control Using Contraction Metric (CoRL 2020)☆30Updated last year
- Implementation of implicit dual control-based active uncertainty learning for human-robot interaction - WAFR 2022 & IJRR 2023☆24Updated 2 months ago
- ☆23Updated 2 years ago
- Thrid-party safety-gym safe exploration environments for autonomous driving. Also environment used for IROS 2021 paper: Model-based Const…☆28Updated 3 years ago
- ☆45Updated 3 years ago
- Matlab iLQR class which will solve for the optimal set of inputs and gains to get to a desired state☆20Updated 8 months ago
- Path planning from STL (Signal Temporal Logic) specifications☆46Updated last year
- Stochastic Sequential Action Control for Continuous-Time Belief Space Planning in Julia☆15Updated 2 years ago