Control Barrier Function toolbox

Toolbox for implementing safety filters using Control Barrier Functions (CBFs) in python. Implemented functionality for CBFs and implicit CBFs that rely on a backup controller.

Implementation of the solver is provided for control-affine systems (with bounded input constraints) using cvxpy.

Defines Experiment class to efficiently run experiments with different (or none) CBFs

The toolbox is compatible with batched inputs (torch or tf) and individual inputs (numpy or jax)


  • Run pip install -e . to install this project

Example available in examples/acc.ipynb


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