{"id":24741211,"url":"https://github.com/hybridrobotics/nmpc-dclf-dcbf","last_synced_at":"2025-04-09T09:09:53.491Z","repository":{"id":46686306,"uuid":"375215098","full_name":"HybridRobotics/NMPC-DCLF-DCBF","owner":"HybridRobotics","description":"A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)","archived":false,"fork":false,"pushed_at":"2023-11-09T10:49:58.000Z","size":55917,"stargazers_count":256,"open_issues_count":6,"forks_count":46,"subscribers_count":8,"default_branch":"master","last_synced_at":"2025-04-02T07:09:38.670Z","etag":null,"topics":["control-barrier-functions","control-lyapunov-functions","ipopt","matlab","model-predictive-control","mpc-control","nonlinear-optimization","obstacle-avoidance-algorithm","quadratic-programming","safety-critical-systems"],"latest_commit_sha":null,"homepage":"","language":"MATLAB","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/HybridRobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2021-06-09T03:31:34.000Z","updated_at":"2025-03-30T02:00:07.000Z","dependencies_parsed_at":"2025-01-27T23:59:42.820Z","dependency_job_id":null,"html_url":"https://github.com/HybridRobotics/NMPC-DCLF-DCBF","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2FNMPC-DCLF-DCBF","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2FNMPC-DCLF-DCBF/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2FNMPC-DCLF-DCBF/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2FNMPC-DCLF-DCBF/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/HybridRobotics","download_url":"https://codeload.github.com/HybridRobotics/NMPC-DCLF-DCBF/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":248008630,"owners_count":21032556,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["control-barrier-functions","control-lyapunov-functions","ipopt","matlab","model-predictive-control","mpc-control","nonlinear-optimization","obstacle-avoidance-algorithm","quadratic-programming","safety-critical-systems"],"created_at":"2025-01-27T23:49:36.389Z","updated_at":"2025-04-09T09:09:53.463Z","avatar_url":"https://github.com/HybridRobotics.png","language":"MATLAB","funding_links":[],"categories":[],"sub_categories":[],"readme":"**Status**: The implementation code for corresponding papers will be merged here and new papers will be added in an inverse order of submission.\n\n### Introduction\n\nIn this repository, a collection of our work is presented where nonlinear model predictive control (NMPC) with control Lyapunov functions (CLFs) and control barrier functions (CBFs) are applied.\n\n### Dependencies\nThe packages needed for running the code are [Yalmip](https://yalmip.github.io/) and [IPOPT](https://projects.coin-or.org/Ipopt/wiki/MatlabInterface).\n\nWe also provide the zipped version of precompiled .mex files for IPOPT in the folder `packages` in case you don't have it. Unzip the file based on the operating system and add those .mex files into your MATLAB path.\n\n### Citing\n\n#### Theoretical Publications\n\nIf you find this project useful in your work, please consider citing following work:\n\n* S. Liu, J. Zeng, K. Sreenath and C. Belta. \"Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions.\" *2023 IEEE American Control Conference (ACC)*. [[arXiv]](https://arxiv.org/abs/2210.04361) [[Docs]](matlab/acc2023/README.md) [[Code]](matlab/acc2023) [[BibTex]](bibtex/acc2023_impc_dhocbf.md)\n\n* A. Thirugnanam, J. Zeng, K. Sreenath. \"Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions.\" *2022 IEEE International Conference on Robotics and Automation (ICRA)*. [[IEEE]](https://ieeexplore.ieee.org/document/9812334) [[arXiv]](https://arxiv.org/abs/2109.12313) [[Video]](https://youtu.be/wucophROPRY) [[BibTex]](bibtex/icra2022_nmpc_dcbf_polytope.md)\n\n* J. Zeng, Z. Li, K. Sreenath. \"Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions.\" *2021 IEEE Conference on Decision and Control (CDC)*. [[IEEE]](https://ieeexplore.ieee.org/document/9683174) [[arXiv]](https://arxiv.org/abs/2105.10596) [[Docs]](matlab/cdc2021/README.md) [[Code]](matlab/cdc2021) [[BibTex]](bibtex/cdc2022_nmpc_dcbf_feasibility.md)\n\n* J. Zeng, B. Zhang and K. Sreenath. \"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function.\" *2021 IEEE American Control Conference (ACC)*. [[IEEE]](https://ieeexplore.ieee.org/document/9483029) [[arXiv]](https://arxiv.org/abs/2007.11718) [[Docs]](matlab/acc2021/README.md) [[Code]](matlab/acc2021) [[BibTex]](bibtex/acc2021_nmpc_dcbf.md)\n\n#### Applicational Publications\n\n* Z. Li, J. Zeng, A. Thirugnanam, K. Sreenath. \"Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models.\" *2022 Proceedings of Robotics: Science and Systems (RSS)*. [[RSS]](http://www.roboticsproceedings.org/rss18/p033.html) [[arXiv]](https://arxiv.org/abs/2205.05787) [[BibTex]](bibtex/rss2022_nmpc_dcbf_legged_robots.md) [[Webpage]](https://sites.google.com/berkeley.edu/rl-sysid-rss2022/home)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhybridrobotics%2Fnmpc-dclf-dcbf","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhybridrobotics%2Fnmpc-dclf-dcbf","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhybridrobotics%2Fnmpc-dclf-dcbf/lists"}