"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718
Thanks for your contributions. I have some questions about this code.
It seems that the CBF constraint is quadratic constraint w.r.t. the u. So what kind of solver do you use? (sorry I am not familiar with MATLAB solver.) Is there any Python solver for this kind of optimization problem? Btw, will you share the code for car racing case?