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auckland_lyapunov

barriernet

Safe robot learning

cart_pole_simulink

Optimal Control Strategies on Cart-pole System in Simscape Multibody Simulation

cbf-clf-helper

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

code-graduation-project

Artificial Potential Fields and Control Barrier Functions for path-planning and collision avoidance

dace

Differential Algebra Computational Toolbox

gcbf-website

Official website of our CoRL 2023 paper: S Zhang, K Garg, C Fan: "Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control"

giuseppeindirectshooting

A general purpose OCP solver

learning-cbfs

Code needed to reproduce the examples found in "Learning Control Barrier Functions from Expert Demonstrations," by A. Robey, H. Hu, L. Lindemann, H. Zhang, D. V. Dimarogonas, S. Tu, and N. Matni, https://arxiv.org/abs/2004.03315

madermittrajectoryplanner

Trajectory Planner in Multi-Agent and Dynamic Environments

missile-guidance

Collection of works towards thesis in Missile Guidance @ Aeronautical Engineering

ncbf-simultaneous-synthesis-and-verification

neural-koopman-lyapunov-control

Neural Koopman Lyapunov Control

neural-network-lyapunov

Synthesizing neural-network Lyapunov functions (and controllers) as stability certificate.

neural_clbf

Toolkit for learning controllers based on robust control Lyapunov barrier functions

pinns-based-mpc

We discuss nonlinear model predictive control (NMPC) for multi-body dynamics via physics-informed machine learning methods. Physics-informed neural networks (PINNs) are a promising tool to approximate (partial) differential equations.

pncbf

Implementing the Policy Neural Control Barrier Function from https://arxiv.org/pdf/2310.15478

polyhedral-gravity-model

Implementation of a polyhedral gravity model in C++17

safety-critical-controls-cbf

Papers on Safety Critical Controls using Control Barrier Functions

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