no code implementations • 18 Apr 2024 • Lukas Brunke, SiQi Zhou, Mingxuan Che, Angela P. Schoellig
In particular, we look at the issues caused by discrete-time implementations of the continuous-time CBF-based safety filter, especially for cases where the magnitude of the Lie derivative of the CBF with respect to the control input is zero or close to zero.
no code implementations • 15 Dec 2023 • Lukas Brunke, SiQi Zhou, Mingxuan Che, Angela P. Schoellig
We demonstrate the efficacy of our proposed approach in simulation and real-world experiments on a quadrotor and show that we can achieve safe closed-loop behavior for a learned system while satisfying state and input constraints.
