Author: James Usevitch
pCBF is a MOOS-IvP app for maintaining safety of autonomous vehicles using Control Barrier Functions (CBFs). Among other things, pCBF can be used for:
- Preventing inter-agent or agent-obstacle collisions in multi-agent, multi-obstacle settings
- Preventing agents from entering "keep-out" regions
- Keeping agents inside "stay-in" regions
Note: pCBF is still under active development. Expect bugs and incomplete features.
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This material is based upon work supported by the Under Secretary of Defense for Research and Engineering under Air Force Contract No. FA8702-15-D-0001.
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