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.
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.
-
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