yemam3 / robustCBFs-GP
Matlab Code base for T-RO 20 paper on robust Control Barrier Functions (CBFs) with Gaussian Process Regression for estimating the disturbance on the dynamical system.
☆12Updated 3 years ago
Alternatives and similar repositories for robustCBFs-GP:
Users that are interested in robustCBFs-GP are comparing it to the libraries listed below
- Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.☆36Updated last year
- Control Of Mobile Robotics Using Barrier Functions And Temporal Logic☆18Updated 4 years ago
- "Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions" by S. Liu, J. Zeng, …☆32Updated last year
- Vector Field-based Collision Avoidance for Moving Obstacles with Time-Varying Shape☆28Updated 2 years ago
- Develop a Koopman operator based MPC for controlling a quadrotor☆48Updated 3 months ago
- ☆22Updated 2 years ago
- EXPSIN / Quadratic-Programming-for-Continuous-Control-of-Safety-Critical-Multi-Agent-Systems-Under-UncertaintQuadratic Programming for Continuous Control of Safety-Critical Multi-Agent Systems Under Uncertainty☆11Updated 4 months ago
- This repo is for developing a Koopman operator based MPC for autonomous vehicles.☆15Updated 2 years ago
- Matlab software, papers, and presentations relating to concurrent learning and gaussian process MRAC☆19Updated 7 years ago
- Quadrotor motion planning and control in dynamic environments using RRT and nonlinear MPC☆32Updated 3 years ago
- Code to reproduce results in peer-reviewed publications☆18Updated last month
- ☆14Updated 4 years ago
- This is the MATLAB code for tube robust MPC with uncertainty quantification☆26Updated 9 months ago
- ☆42Updated 10 months ago
- Nonlinear Model Predictive Tracking Controller for AUV☆22Updated 7 years ago
- "Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. L…☆27Updated 3 years ago
- Learning Model Predictive Control for Quadrotors Minimum-Time Flight in Autonomous Racing Scenarios☆21Updated last year
- The reproduction of tube-based MPC for nonlinear systems☆41Updated 8 months ago
- ☆9Updated 2 years ago
- ☆29Updated 4 years ago
- ☆29Updated 2 years ago
- Code needed to reproduce examples in "Robust Closed-loop Model Predictive Control via System Level Synthesis," by S. Chen, H. Wang, M. Mo…☆28Updated 4 years ago
- Implementation of a multi-agent planning algorithm based on potential field method with a distributed feedback protocol. (Summer 2018)☆11Updated 5 years ago
- Code for "Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter"☆20Updated last year
- A model predictive control (MPC) design and implementation for a quadrotor balancing an inverted pendulum. Includes a stability analysis …☆38Updated 3 years ago
- Tube-certified nonlinear tracking with robust control contraction metrics☆23Updated last year
- This repository houses MATLAB code written to study CBF-based safety filters in the context of obstacle avoidance for 2D linear systems.☆12Updated last year
- PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL☆18Updated last week
- A repo to house the code for the submission "Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and…☆10Updated last year
- DisturbanceObserver NonlinearDisturbanceObserver☆17Updated 6 years ago