$\textsf{\color{BlueViolet}{Differentiable Optimization Based CBFs}}$

This repo contains the codebase of Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions. For an overview of the paper and a detailed walkthrough of the codebase, please refer to the official paper website.

📖 $\textsf{\large\color{cornflowerblue}{Citation}}$

To cite our paper, please use the following bibtex

@article{DaiKKGTK23,
  author       = {Bolun Dai and Rooholla Khorrambakht and Prashanth Krishnamurthy and Vin{\'{\i}}cius Gon{\c{c}}alves and Anthony Tzes and Farshad Khorrami},
  title        = {Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions},
  journal      = {{IEEE} Robotics and Automation Letters},
  year         = {2023},
  volume       = {8},
  number       = {9},
  pages        = {5376-5383},
}