Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.
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Dec 24, 2022 - Python
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safety-critical-control
Here are 15 public repositories matching this topic...
Safety-critical control for autonomous systems
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Aug 11, 2023 - MATLAB
Safe Model Predictive Diffusion: Training-free diffusion planner for provably safe and kinodynamically feasible trajectory
trajectory-optimization diffusion trajectory-planning autonomous-navigation safety-critical-control diffusion-policy
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Feb 1, 2026 - 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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Aug 9, 2025 - MATLAB
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
Safety-critical control for autonomous systems
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Aug 10, 2023 - MATLAB
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
Safety-critical control for systems with unknown dynamics
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Mar 18, 2024 - MATLAB
Code base for disturbance-robust backup control barrier functions (DR-bCBFs).
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Jan 23, 2025 - Python
Control barrier functions implemented through python via pybullet.
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Apr 3, 2022 - Jupyter Notebook
Time-minimal smooth stop for collaborative robotics with python bindings
robotics optimization motion-planning python3 safety trajectory-optimization optimal-control robot-control optimal-trajectories jerk-minimization collaborative-robotics safety-critical-control
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Sep 30, 2024 - C++
TTCBF: A Truncated Taylor Control Barrier Function for High-Order Safety Constraints
python robots control-theory collision-avoidance safety-critical-systems control-barrier-function safety-critical-control high-order-control-barrier-function
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Feb 18, 2026 - Python
Safety under state uncertainty
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Aug 27, 2025 - Jupyter Notebook
This repo provides code for enforcing Control Barrier Function based safety filters under state uncertainty by reformulating the resultant robust optimization problem using duality.
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Mar 18, 2026 - Jupyter Notebook
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