safety-critical-control

Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.

Safe Model Predictive Diffusion: Training-free diffusion planner for provably safe and kinodynamically feasible trajectory

Safety-critical control for autonomous systems

This repository houses MATLAB code written to study CBF-based safety filters in the context of obstacle avoidance for 2D linear systems.

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.

Safety-critical control for autonomous systems

Safety Critical Control of Autonomous Vehicles by Control Barrier Functions

Code base for disturbance-robust backup control barrier functions (DR-bCBFs).

The 1D_MPC_CBF repository houses a collection of MATLAB scripts written to study differnt state-constrained controllers.

Safety-critical control for systems with unknown dynamics

Control barrier functions implemented through python via pybullet.

TTCBF: A Truncated Taylor Control Barrier Function for High-Order Safety Constraints

Time-minimal smooth stop for collaborative robotics with python bindings

MATLAB toolbox for Barrier States (BaS) safe control and safety-embedded systems.

Joint-Flow Capture Governor for robust terminal control of unpowered fixed-wing robots

Python library for Barrier States (BaS) safe control and safety-embedded systems.

Reproducible non-LLM adaptive CBF-MPC baselines for dynamic obstacle prediction and rule-based gamma tuning.

Personal website of Charlie — Automation, Control, Robotics and Autonomous Systems

Safety under state uncertainty

This repo provides code for enforcing Control Barrier Function based safety filters under state uncertainty by reformulating the resultant robust optimization problem using duality.