Extent-compatible control barrier functions, Mohit Srinivasan, Matthew Abate, Gustav Nilsson, Samuel Coogan, Systems & Control Letters, Volume 150, 2021. 10.1016/j.sysconle.2021.104895
This is code for the extent-compatible control barrier functions framework. This repository contains two implementations of the proposed framework in the Robotarium simulator:
- A sum-of-squares (SOS) based approach
- A sampling-based approach implemented on the Robotarium
A classical CBF implementation where one has to shrink the safe set is also included for refernece.
- Enter the Robotarium_Extent_Experiment folder
- Run the init.m file
- In implementation/main.m: Modify the variable cont to be either 'extent', 'sos', 'point' to choose which controller that should be used
- To run the simulation, just run implementation/main.m
NOTE: The SOS controller code requires SOSTOOLS with solver SDPT3. It has only been varified to work with SOSTOOLS v 3.03, SDPT3 v 4.0 and MATLAB R2019b.