Model Predictive Shielding
Contains the code for the model predictive shielding algorithm proposed in https://arxiv.org/abs/1905.10691.
Works with Python 3.6. Python dependencies are
The online shielding code is in the
pythonfolder. The main routines are
bicycle_test_bl.py. For example, to run the cart-pole code, run
$ cd python $ python -m spire.main.cartpole_test
The matlab directory contains the code used to perform LQR verification for the cart-pole dynamical system. This code depends on SOSTOOLS 3.03, which is available at https://www.cds.caltech.edu/sostools. We used the SeDuMi optimizer with SOSTOOLS, available at https://github.com/sqlp/sedumi.
The baseline code depends on the Z3 theorem prover, which is available at https://github.com/Z3Prover/z3. To run the baseline code, run
$ cd baseline/python $ python main.py