control-barrier-function

This repository is the code for the paper "Glocal trajectory generation and tracking control for autonomous underwater vehicles with optimal coverage sensor networks"

Learn a neural network control barrier function subject to safety constraints composited by logical operations.

Model predictive control with Discrete Control Barrier Function constraints using CVXPY

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

Learner-Verifier Framework for formal synthesis of Control Barrier Functions (CBF).

OcclusionCBF: A safety filter for robot navigation with potentially hidden dynamic obstacles

Code for my bachelor thesis on "Control Barrier Functions for Learning-Based Regulation of Elastic Actuators with State Constraints".

SAFIRL: Shielded RL with CBF/MPC on Franka-MuJoCo - reproducible training/evaluation, STL-based verification, benchmarks, Docker/CI.

Context-conditioned safety critic for diffusion-based visual navigation

Safety-critical navigation: RRT global planning + MPC local tracking with hard D-CBF constraints. 5/5 consecutive goals, zero collision, fully self-contained MATLAB

MATLAB numerical simulation for self-adjusting prescribed-performance control of saturated quadrotor UAVs.

Second-order probabilistic safety barrier certificates with a ten-robot online RL baseline

World-first unified MCP gateway + Control Barrier Function (CBF-QP) safety engine for agentic robotics.

Safety simulation, ROS 2 integration, and STM32 firmware for a vision-guided differential-drive robot