gtfactslab/stochasticbarrierfunctions

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gtfactslab/stochasticbarrierfunctions

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This repository contains the code for the case studies in the paper "Verification and Control for Finite-Time Safety of Stochastic Systems via Barrier Functions" (CCTA 2019) and "A Barrier Function Approach to Finite-Time StochasticSystem Verification and Control" (in submission)

CrazySim

A Crazyflie simulator for testing CFLib Python code, ROS 2 nodes through Crazyswarm2, custom crazyflie-firmware modules, or perform a flight demo on the crazyflie-python-client.

TRO_CBFs-LTL_Robotarium_Experiment

Control Of Mobile Robotics Using Barrier Functions And Temporal Logic

IROS2020_LearningBarriers

Synthesis of Control Barrier Functions Using a Supervised Machine Learning Approach

immrax

Interval Analysis and Mixed Monotone Reachability in JAX

Banks_ICRA_2021

This code supplements the ICRA 2021 submission "Physical Human-UAV Interaction via Differentially Flat OutputGeneration using Admittance Control"

Abate_ACC2021

This code supplements “Performance Analysis and Non-Quadratic Lyapunov Functions for Linear Time-Varying Systems,“ submitted to American Controls Conference, 2021.

2020_ContinuousTaskBarriers

Continuous Reachability Task Transition using Control Barrier Functions

ExtentCBF

Abate_CDC2020_2

This code supplements "Computing Robustly Forward Invariant Sets for Mixed-Monotone Systems" to appear in 2020 IEEE 59th Conference on Decision and Control (CDC).

Cao_CCTA2021

This code supplements the CCTA 2021 submission "On the Impact of the Capacity Drop Phenomenon for Freeway Traffic Flow Control"

MoralesCuadrado_ACC2024

The code accompanying the ACC2024 Submission "Newton-Raphson Flow for Aggressive Quadrotor Control"

Abate_LCSS2021

This repository accompanies "Decomposition Functions for Interconnected Mixed Monotone Systems," submitted to Control Systems Letters (L-CSS), 2021.

npinterval

Interval Arithmetic in numpy

Harapanahalli_WFVML2023

ReachMM

Abate_Thesis

This code supplements Matthew Abate's dissertation, "Mixed Monotonicity for Efficient Reachability with Applications to Robust Safe Autonomy," 2022.

Abate_CDC2020

This code supplements "Enforcing Safety at Runtime for Systems with Disturbances," 2020 IEEE 59th Conference on Decision and Control (CDC), to appear.

Abate_ACC2020

This code supplements "Lyapunov Differential Equation Hierarchy and Polynomial Lyapunov Functions for Switched Linear Systems," to appear in American Controls Conference 2020.

Abate_TAC2021

This code supplements "Computing Robustly Forward Invariant Sets for Mixed-Monotone Systems," submitted to IEEE Transactions on Automatic Control (TAC), 2021.

Harapanahalli_LCSS2024

The code accompanying the L-CSS Submission "Forward Invariance in Neural Network Controlled Systems"

Llanes_CDC2021

Turtlebot_Barrier_Planning

ROS files for Turtlebot (Planning using Barrier Functions)

Harapanahalli_CDC2024

Cao_ACC2023

This code supplements the ACC submission "Safe Learning-based Predictive Control from Efficient Reachability".

JimenezCortes_AIAA2024

Microsoft Flight Simulator - Simulink code for AIAA 2024 paper example

Baird_ACC2023

Code supporting the paper "Runtime Assurance from Signal Temporal Logic Safety Specifications" by Luke Baird and Samuel Coogan