control-barrier-functions 开源项目推荐（111 个）

HybridRobotics /CBF-CLF-Helper

基于控制屏障函数（CBF）和控制李雅普诺夫函数（CLF）的控制方法的 Matlab 接口。

HybridRobotics /MPC-CBF

《安全关键模型预测控制与离散时间控制障碍函数》，作者J. Zeng、B. Zhang和K. Sreenath https://arxiv.org/abs/2007.11718

HybridRobotics /NMPC-DCLF-DCBF

使用非线性模型预测控制（NMPC）以及离散时间控制 Lyapunov 函数（CLF）和控制屏障函数（CBF）的工作合集

elena-ecn /mpc-cbf

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

HybridRobotics /car-racing

A toolkit for testing control and planning algorithm for car racing.

shaoanlu /mppi_cbf

Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.

Weixy21 /BarrierNet

Safe robot learning

bardhh /cbfkit

JAX toolbox for safe robotics control: Control Barrier Function (CBF) safety filters, MPPI planning, and a drop-in safe-RL layer.

Weixy21 /SafeDiffuser

Safe Planning with Diffusion Probabilistic Models

MizuhoAOKI /control_barrier_function

control barrier function examples

buntonj /CLF-CBF-QP

Matlab 类和函数，用于仿真实现控制 Lyapunov-控制障碍函数二次规划控制器的系统。

mahaitongdae /safe_exp_env

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

MIT-REALM /dgppo

ICLR 2025论文的正式实施：Songyuan Zhang、Oswin So、Mitchell Black、Chuchu Fan：“用于多智能体安全最优控制的离散GCBF近端政策优化”。

HybridRobotics /CBF-Pointwise-Feasibility

《使用具有保证逐点可行性的最优衰减控制障碍函数进行安全关键控制》，作者 J. Zeng、B. Zhang、Z. Li 和 K. Sreenath，https://arxiv.org/pdf/2103.12375.pdf

FilippoAiraldi /mpcrl-cbf

Model Predictive Control-based Reinforcement Learning with Control Barrier Functions

lihanlian /simple-mpc-cbf

Simple scripts that are used for solving motion planning & obstacle avoidance problems via Model Predictive Control (MPC) & Control Barrier Function (CBF).

Berk-Tosun /cbf-cartpole

Various Control Barrier Functions realized on cartpole.

JohannesAutenrieb /CBF_Obstacle_Avoidance

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

JohannesAutenrieb /CBF_ACC

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-WIRIN /sccav_cbf

Safety Critical Control of Autonomous Vehicles by Control Barrier Functions