Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
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Jun 30, 2024 - MATLAB
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control-barrier-functions
Here are 35 public repositories matching this topic...
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
matlab nonlinear-optimization quadratic-programming model-predictive-control ipopt safety-critical-systems mpc-control obstacle-avoidance-algorithm control-lyapunov-functions control-barrier-functions
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Nov 9, 2023 - MATLAB
"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
model-predictive-control ipopt safety-critical-systems mpc-control obstacle-avoidance-algorithm control-lyapunov-functions mpc-cbf control-barrier-functions
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Jan 21, 2022
A toolkit for testing control and planning algorithm for car racing.
learning simulation trajectory-optimization nonlinear-optimization optimization-algorithms obstacle-avoidance model-predictive-control car-racing casadi control-barrier-functions
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Apr 19, 2024 - Python
Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.
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Dec 24, 2022 - Python
Safe robot learning
robot-learning end-to-end-learning visual-servoing safety-critical-systems control-barrier-functions differentiable-optimization
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Nov 21, 2024 - Python
Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.
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Feb 25, 2025 - Jupyter Notebook
Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.
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Oct 3, 2023 - MATLAB
Thrid-party safety-gym safe exploration environments for autonomous driving. Also environment used for IROS 2021 paper: Model-based Constrained Reinforcement Learning using Generalized Control Barrier Function
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Aug 19, 2021 - Python
"Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. Li and K. Sreenath https://arxiv.org/pdf/2103.12375.pdf
optimization feasibility safety-critical-systems control-lyapunov-functions control-barrier-functions input-constraints
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May 23, 2021 - MATLAB
Safe Planning with Diffusion Probabilistic Models
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Apr 30, 2025 - Python
Various Control Barrier Functions realized on cartpole.
python learning control robot dynamics cartpole lqr safety-critical cbf control-barrier-functions cbf-learning
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Jun 29, 2024 - Python
Safety Critical Control of Autonomous Vehicles by Control Barrier Functions
robotics autonomous-car control-systems autonomous-driving autonomous-vehicles robot-control autonomous-agents safety-critical-systems control-barrier-functions safety-critical-control
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Sep 9, 2022 - Python
Official Implementation of ICLR2025 Paper: Songyuan Zhang, Oswin So, Mitchell Black, Chuchu Fan: "Discrete GCBF Proximal Policy Optimization for Multi-agent Safe Optimal Control".
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May 14, 2025 - Python
This collection of MATLAB scripts intends to study the performance of state-constrained controllers utilizing control barrier functions in the context of adaptive cruise control.
control-systems control-theory quadratic-programming adaptive-cruise-control control-lyapunov-functions control-barrier-functions safety-critical-control
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Aug 3, 2023 - MATLAB
This repository houses MATLAB code written to study CBF-based safety filters in the context of obstacle avoidance for 2D linear systems.
control-systems control-theory quadratic-programming obstacle-avoidance control-barrier-functions safety-critical-control state-constrained
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Jul 17, 2023 - MATLAB
Code for "Learning Local Control Barrier Functions for Safety Control of Hybrid Systems"
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Jan 29, 2024 - Python
The 1D_MPC_CBF repository houses a collection of MATLAB scripts written to study differnt state-constrained controllers.
control-systems model-predictive-control control-barrier-functions safety-critical-control state-constrained control-th
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Jul 17, 2023 - MATLAB
Simple scripts that are used for solving motion planning & obstacle avoidance problems via Model Predictive Control (MPC) & Control Barrier Function (CBF).
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Dec 8, 2024 - Jupyter Notebook
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