This repository is the code for the paper "Glocal trajectory generation and tracking control for autonomous underwater vehicles with optimal coverage sensor networks"

Learn a neural network control barrier function subject to safety constraints composited by logical operations.

Model predictive control with Discrete Control Barrier Function constraints using CVXPY

Learner-Verifier Framework for formal synthesis of Control Barrier Functions (CBF).

SAFIRL: Shielded RL with CBF/MPC on Franka-MuJoCo - reproducible training/evaluation, STL-based verification, benchmarks, Docker/CI.

Code for my bachelor thesis on "Control Barrier Functions for Learning-Based Regulation of Elastic Actuators with State Constraints".

TTCBF: A Truncated Taylor Control Barrier Function for High-Order Safety Constraints