From 1b12e96702a558cd4a524f8b3e2ed54be5b70a44 Mon Sep 17 00:00:00 2001 From: Hongkai Dai Date: Fri, 13 Sep 2024 20:54:30 -0700 Subject: [PATCH] Update README.md (#70) Add the quadrotor video --- README.md | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/README.md b/README.md index fc44756..4f8ca3e 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,15 @@ # Compatible CLF and CBFs Verifying and synthesizing compatible Control Lyapunov Function (CLF) and Control Barrier Function (CBF) through Sum-of-Squares. +# Example +A quadrotor stabilized by our compatible CLF-CBF-QP controller, avoiding the ground obstacle, flying to the target from different initial states. + +https://github.com/user-attachments/assets/3e328f3c-41cc-47c9-a646-c965019f5ccd + + + + + # References - [Verification and Synthesis of Compatible Control Lyapunov and Control Barrier Functions](https://arxiv.org/pdf/2406.18914)
Hongkai Dai*, Chuanrui Jiang*, Hongchao Zhang and Andrew Clark