This repository houses MATLAB code written to study CBF-based safety filters in the context of obstacle avoidance for 2D linear systems.

This collection of MATLAB scripts intends to study the performance of state-constrained controllers utilizing control barrier functions in the context of adaptive cruise control.

Safety-critical control for autonomous systems

Safety-critical control for autonomous systems

The 1D_MPC_CBF repository houses a collection of MATLAB scripts written to study differnt state-constrained controllers.

Safety-critical control for systems with unknown dynamics