Matlab codes for safety-critical navigation of polytope agents in polytope environments based on a single CBF candidate. These include codes for the numerical simulation of four reach-avoid problems with point and polytope agents, static and dynamic environments, in 2D and 3D.
See details in our paper below. Please cite the paper if you use these codes for your research.
Molnar TG, Navigating Polytopes with Safety: A Control Barrier Function Approach, 9th IEEE Conference on Control Technology and Applications (CCTA 2025), August 25-27, 2025, San Diego, CA, USA.