1. NMPC-DCLF-DCBFA collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
2. car-racingA toolkit for testing control and planning algorithm for car racing.
3. CBF-CLF-HelperMatlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
4. 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