Online Adaptation for Robust Control Barrier Functions

This repository contains the implementation of Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions arXiv link

Ersin Das, Rahal Nanayakkara, Xiao Tan, Ryan M. Bena, Joel W. Burdick, Paulo Tabuada, and Aaron D. Ames

Prerequisites

• Python 3.8 or later.
• Required Python libraries:
  • numpy
  • scipy
  • matplotlib
  • cvxpy
  • casadi