Zero-order Control Barrier Functions (ZOCBFs)

This repository contains the implementation of Zero-order Control Barrier Functions (ZOCBFs) arXiv link

Zero-order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints
Xiao Tan*, Ersin Daş*, Aaron D. Ames, Joel W. Burdick

Prerequisites

• Python 3.8 or later.
• Required Python libraries:
  • numpy
  • scipy
  • matplotlib
  • cvxpy