qcm-cbf

An implementation of the robot navigation using Quasi-conformal Mappings (QCM) and Control Barrier Functions (CBF) approach described in Notomista, Choi, and Saveriano, 2024.

Demos description

• demo_one_obstacle.m: a demo to run QCM-CBF (full mapping) to avoid a single obstacle.
• demo_full_qc_incremental.m: a demo to run QCM-CBF (full mapping) to avoid a two obstacles dynamically added to the workspace.
• demo_partial_qc_incremental.m: a demo to run QCM-CBF (partial mapping) to avoid a two obstacles dynamically added to the workspace.
• demo_pan_tilt_camera.m: a demo to run QCM-CBF (full mapping) to avoid unsafe regions observed by a Pan-Tilt camera.
• demo_office_navigation.m: a demo to run QCM-CBF (full mapping) to avoid collisions in a complex office space.

Software Requirements

The code is developed and tested under Matlab2023b.

References

Please acknowledge the authors in any academic publication that used parts of these codes.

@article{Notomista2023Reactive,
  title={Reactive Robot Navigation Using Quasi-conformal Mappings and Control Barrier Functions},
  author = {Gennaro Notomista and Gary P. T. Choi and Matteo Saveriano},
journal = {IEEE Transactions on Control Systems Technology},
volume = {},
pages = {},
year = {2024 (to appear)}
}

Note

This source code is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY.