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"

Model predictive control with Discrete Control Barrier Function constraints using CVXPY

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

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

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

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

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

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

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

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

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

Bounded-latency safety kernel for autonomous multirotors: closed-form HOCBF filter, EKF covariance gating, HMAC-authenticated weighted swarm consensus, VLA/RL command guard. Validated in Isaac Sim on the real 27 g Crazyflie 2.X (500-episode isolation A/B: 0% vs 100% survival). ASU research prototype - not certified.

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