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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Mutual labels: control-lyapunov-functions, control-barrier-functions
NMPC-DCLF-DCBFA collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
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Mutual labels: control-lyapunov-functions, control-barrier-functions
lyapyLibrary for simulation of nonlinear control systems, control design, and Lyapunov-based learning.
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Mutual labels: control-theory
ddp-gymDifferential Dynamic Programming controller operating in OpenAI Gym environment.
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Mutual labels: control-theory
RobustAndOptimalControl.jlRobust and optimal design and analysis of linear control systems
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Mutual labels: control-theory
Google-Summer-of-Code-with-SymPyThis repository showcases my proposal, final report, and the work done during Google Summer of Code 2020 with the SymPy project.
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Mutual labels: control-theory
Embedded UKF LibraryA compact Unscented Kalman Filter (UKF) library for Teensy4/Arduino system (or any real time embedded system in general)
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Mutual labels: control-theory
Awesome Safety CriticalList of resources about programming practices for writing safety-critical software.
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Mutual labels: safety-critical
o1heapConstant-complexity deterministic memory allocator (heap) for hard real-time high-integrity embedded systems
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Mutual labels: safety-critical
vsrl-frameworkThe Verifiably Safe Reinforcement Learning Framework
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Mutual labels: safety-critical
SparForteBourne shell, template engine, scripting language mission-critical, scalable projects. Based a ISO standard proven effective for large, mission-critical projects, SparForte is designed for fast development while, at the same time, providing easier designing, maintenance and bug removal. About 120.000 lines of code.
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Mutual labels: safety-critical
CLF reactive planning systemThis package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to co…
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Mutual labels: control-lyapunov-functions
car-racingA toolkit for testing control and planning algorithm for car racing.
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Mutual labels: control-barrier-functions