This repo is not maintained currently. For a beginner-friendly introduction to CBF, check my related repo: https://github.com/Berk-Tosun/cbf-cartpole.

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This is an educational work towards Control Barrier Functions (CBF).

Here we implement Gurriet et al., "Towards a Framework for Realizable Safety Critical Control through Active Set Invariance", 2018.

URDF files taken from the repo of original authors.