A two-stage controller that uses L-BFGS gradient-based MPC for performance and a CBF-QP filter for hard safety constraints is demonstrated on simulated unicycle and planar quadrotor navigation.
A general hamilton- jacobi framework for non-linear state-constrained control problems,
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Safe and Performant Controller Synthesis using Gradient-based Model Predictive Control and Control Barrier Functions
A two-stage controller that uses L-BFGS gradient-based MPC for performance and a CBF-QP filter for hard safety constraints is demonstrated on simulated unicycle and planar quadrotor navigation.