HhhTian / safe-longitudinal-planning-MPC-iLQR-CBF-Safety-Constraints

git clone https://github.com/HhhTian/safe-longitudinal-planning-MPC-iLQR-CBF-Safety-Constraints.git

Safety-critical longitudinal planning: from DP+QP+PID to DP+augmented-state MPC with safety constraint formulation with RSS model and iLQR solver.