shuoyang2000 / hybrid-local-cbfs

Code for "Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions" by S. Yang, M. Black, G. Fainekos, B. Hoxha, H. Okamoto, R. Mangharam

Hybrid Local CBFs

Code for "Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions"

Installation

The implementation has been tested with Python 3.10 under Ubuntu 22.04.

Linux, Mac or WSL is recommended to run this repository since hj_reachability is required and it is built on jax.

1. Clone this repo.
2. Install requirements:

   pip install -r requirements.txt
   

Note that some supplementary libraries are included locally (note the lib folder). These libraries have been bundled with the repository as changes have had to be made to make them adaptded to our problem.

Reproduce the Results

Run the two ipynb files in examples folder.

Dataset

The computed dataset can be found here

Related projects

This project is inspired by a number of related projects, including:

• refineCBF: Control Barrier Function refinement with HJ Reachability
• cbf_opt: Control Barrier Function toolbox
• hj_reachability: Hamilton-Jacobi reachability analysis in JAX

TODO

• Implement a hybrid_local_cbf package and make it generalizable enough