Safe reinforcement learning with stochastic control barrier functions (TI3165TU Capstone project 2023-2024)
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Updated
Mar 22, 2024 - Jupyter Notebook
Safe reinforcement learning with stochastic control barrier functions (TI3165TU Capstone project 2023-2024)
Control barrier functions implemented through python via pybullet.
Safety-critical control for systems with unknown dynamics
Repository containing a Python implementation of a sensor-based scheme for safe TIAGo navigation in a crowd
Code for "Learning Local Control Barrier Functions for Safety Control of Hybrid Systems" by S. Yang, Y. Chen, X. Yin, R. Mangharam
Optimal Control Theory and Stochastic Control Barrier Functions applied to Economics and Finance
The 1D_MPC_CBF repository houses a collection of MATLAB scripts written to study differnt state-constrained controllers.
UAP-BEV: Uncertainty Aware Planning in Bird's Eye View Generated from Monocular Images (CASE 2023)
On the forward invariance of Neural ODEs: performance guarantees for policy learning
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.
This repository houses MATLAB code written to study CBF-based safety filters in the context of obstacle avoidance for 2D linear systems.
Safety Critical Control of Autonomous Vehicles by Control Barrier Functions
Various Control Barrier Functions realized on cartpole.
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
Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.
"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
Safe robot learning
Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.
Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.
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