An implementation of a soft constrained nonlinear model predictive safety filter with stability guarantees. The soft constrained safety filter can be added as a filtering layer on top of any learning based controller and is guaranteed to keep the agent in a safe state. In case of a singular disturbance that drives the agent out of a the safe set, the soft safetly filter is guaranteed to return the agent to a safe state and recover from the unsafe situation.
-
Notifications
You must be signed in to change notification settings - Fork 2
an implementation of a soft constrained model predictive safety filter with stability guarantees
License
ziyadsheeba/soft-safety-filter
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Folders and files
| Name | Name | Last commit message | Last commit date | |
|---|---|---|---|---|
Repository files navigation
About
an implementation of a soft constrained model predictive safety filter with stability guarantees
Resources
License
Stars
Watchers
Forks
Releases
No releases published
Packages 0
No packages published