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Jun Zeng 2022-01-20 18:57:39 -08:00
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@ -14,10 +14,26 @@ If you find this project useful in your work, please consider citing following w
title={Safety-critical model predictive control with discrete-time control barrier function},
author={Zeng, Jun and Zhang, Bike and Sreenath, Koushil},
booktitle={2021 American Control Conference (ACC)},
year={2021}
year={2021},
volume={},
number={},
pages={3882-3889}
}
```
For analysis of feasibility, safety and computational complexity, please check out the following paper:
```
@inproceedings{zeng2021mpccbf-feasibility,
title={Enhancing feasibility and safety of nonlinear model predictive control with discrete-time control barrier functions},
author={Zeng, Jun and Li, Zhongyu and Sreenath, Koushil},
booktitle={2021 Conference on Decision and Control (CDC)},
year={2021},
volume={},
number={},
pages={6137-6144}
}
```
#### Instructions
The 2D double integrator is assigned to reach the target position at origin while avoiding obstacles. We have three classes for different controllers: `DCLFDCBF.m` (DCLF-DCBF), `MPCCBF.m` (MPC-CBF) and `MPCDC` (MPC-DC), respectively.