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Extent-Compatible Control Barrier Functions

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.

To execute the code, please follow the instructions below:

  • 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.

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