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Top 4 control-barrier-functions open source projects

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

✭ 38

matlab objective c nonlinear-optimization quadratic-programming model-predictive-control ipopt safety-critical-systems mpc-control obstacle-avoidance-algorithm control-lyapunov-functions control-barrier-functions

car-racing

A toolkit for testing control and planning algorithm for car racing.

✭ 30

python CMake learning simulation trajectory-optimization nonlinear-optimization optimization-algorithms obstacle-avoidance model-predictive-control car-racing casadi control-barrier-functions

CBF-CLF-Helper

Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.

✭ 79

matlab M control-theory clf safety-critical cbf control-lyapunov-functions control-barrier-functions

MPC-CBF

"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718

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model-predictive-control ipopt safety-critical-systems mpc-control obstacle-avoidance-algorithm control-lyapunov-functions mpc-cbf control-barrier-functions

1-4 of 4 control-barrier-functions projects