Barrier States Python Library v0.1.0

Initial public release of the Barrier States Python Library, a modular Python implementation of Barrier States (BaS) for safety-embedded control and trajectory optimization.

The initial release includes

• Continuous-time and discrete-time Barrier State realizations
• Safety-embedded continuous-time and discrete-time systems
• Reciprocal and logarithmic barrier constructions
• Individual and aggregated Barrier State formulations
• State-feedback, BaS-PID, and SDRE controllers
• DDP/iLQR trajectory optimization and DDP-based MPC
• Continuous-time and discrete-time simulation utilities
• Plotting and animation tools
• Examples for linear systems, adaptive cruise control, cart-pole,
  differential-drive robots, multi-agent systems, planar quadrotors,
  3D quadrotors, and receding-horizon MPC
• Unit and workflow tests for the core library components

The library is under active development and public interfaces may evolve in future releases.