A-Control-Barrier-Function-Candidate-for-Limited-Field-of-View-Sensors

This repository contains the simulated scenarios used to showcase the control approach presented in A Control Barrier Function Candidate for Limited Field of View Sensors.

Running the Simulations

Prerequisites

To run the simulation on your pc, install the requirement Python3 packages via

pip3 install -r requirements.text

N.B. It is suggested to use Virtual Environment.

Simulations

• visual_acceleration_control.py contains the implementation of the control algorithm as reported on the article and showcase the performance that can be obtained when the agent under control can be modeled as a fully actuated rigid body

• visual_quadrotor.py contains a "modified" version of the algorithm that showcase that can be obtained when the agent is a quadrotor actuaed in trust and torques

• visual_gates.py is a more advanced example not reported on the article that shows a quadrotor racing trough a simple a track with gates