├── README.md ├── benchmark ├── InitialState.m ├── InitialStateData.mat ├── gamma1-0p6 │ ├── InitialStateData.mat │ ├── NMPCDCBF1.m │ ├── feasibility12.mat │ ├── feasibility16.mat │ ├── feasibility20.mat │ ├── feasibility24.mat │ ├── feasibility4.mat │ ├── feasibility8.mat │ ├── test_comprehensive.m │ ├── test_each_horizon │ │ ├── InitialStateData.mat │ │ ├── NMPCDCBF1.m │ │ ├── tabledata.m │ │ ├── test_N12.m │ │ ├── test_N16.m │ │ ├── test_N20.m │ │ ├── test_N24.m │ │ ├── test_N4.m │ │ └── test_N8.m │ ├── timecom12.mat │ ├── timecom16.mat │ ├── timecom20.mat │ ├── timecom24.mat │ ├── timecom4.mat │ └── timecom8.mat ├── gamma1-0p6gamma2-0p6 │ ├── InitialStateData.mat │ ├── NMPCDCBF2.m │ ├── feasibility12.mat │ ├── feasibility16.mat │ ├── feasibility20.mat │ ├── feasibility24.mat │ ├── feasibility4.mat │ ├── feasibility8.mat │ ├── test_comprehensive.m │ ├── test_each_horizon │ │ ├── InitialStateData.mat │ │ ├── NMPCDCBF2.m │ │ ├── tabledata.m │ │ ├── test_N12.m │ │ ├── test_N16.m │ │ ├── test_N20.m │ │ ├── test_N24.m │ │ ├── test_N4.m │ │ └── test_N8.m │ ├── timecom12.mat │ ├── timecom16.mat │ ├── timecom20.mat │ ├── timecom24.mat │ ├── timecom4.mat │ └── timecom8.mat ├── gamma1_0p4 │ ├── InitialStateData.mat │ ├── NMPCDCBF1.m │ ├── feasibility12.mat │ ├── feasibility16.mat │ ├── feasibility20.mat │ ├── feasibility24.mat │ ├── feasibility4.mat │ ├── feasibility8.mat │ ├── test_comprehensive.m │ ├── test_each_horizon │ │ ├── InitialStateData.mat │ │ ├── NMPCDCBF1.m │ │ ├── tabledata.m │ │ ├── test_N12.m │ │ ├── test_N16.m │ │ ├── test_N20.m │ │ ├── test_N24.m │ │ ├── test_N4.m │ │ └── test_N8.m │ ├── timecom12.mat │ ├── timecom16.mat │ ├── timecom20.mat │ ├── timecom24.mat │ ├── timecom4.mat │ └── timecom8.mat ├── gamma1_0p4gamma2_0p4 │ ├── InitialStateData.mat │ ├── NMPCDCBF2.m │ ├── feasibility12.mat │ ├── feasibility16.mat │ ├── feasibility20.mat │ ├── feasibility24.mat │ ├── feasibility4.mat │ ├── feasibility8.mat │ ├── test_comprehensive.m │ ├── test_each_horizon │ │ ├── InitialStateData.mat │ │ ├── NMPCDCBF2.m │ │ ├── tabledata.m │ │ ├── test_N12.m │ │ ├── test_N16.m │ │ ├── test_N20.m │ │ ├── test_N24.m │ │ ├── test_N4.m │ │ └── test_N8.m │ ├── timecom12.mat │ ├── timecom16.mat │ ├── timecom20.mat │ ├── timecom24.mat │ ├── timecom4.mat │ └── timecom8.mat └── performance1.png └── closedloop_performance ├── Closedloop_Trajectories_Hyperparameters.m ├── FigureGenerate.m ├── Iterative_Convergence.m ├── Maximum_Iterations.m ├── NMPCDCBF1.m ├── NMPCDCBF2.m ├── figures ├── J-converge-1.eps ├── J-converge-1.png ├── J-converge-2.eps ├── J-converge-2.png ├── J-converge-3.eps ├── J-converge-3.png ├── J-converge-4.eps ├── J-converge-4.png ├── closedloop-snapshots1.eps ├── closedloop-snapshots1.png ├── closedloop-snapshots2.eps ├── closedloop-snapshots2.png ├── closedloop-snapshots3.eps ├── closedloop-snapshots3.png ├── openloop-snapshots.eps ├── openloop-snapshots.png ├── state-converge-1.eps ├── state-converge-1.png ├── state-converge-2.eps ├── state-converge-2.png ├── state-converge-3.eps ├── state-converge-3.png ├── state-converge-4.eps └── state-converge-4.png ├── impc_N16_gamma4_4.mat ├── impc_N16_gamma6_6.mat ├── impc_N24_Gamma4.mat ├── impc_N24_Gamma6.mat ├── impc_N24_gamma4_4.mat ├── impc_N24_gamma6_6.mat ├── iteration_theta.mat ├── iteration_v.mat ├── iteration_x.mat ├── iteration_y.mat ├── jtconv_Gamma4_4.mat ├── jtconv_Gamma4_6.mat ├── jtconv_Gamma6_4.mat ├── jtconv_Gamma6_6.mat ├── nmpc_N16_gamma4_4.mat ├── nmpc_N16_gamma6_6.mat ├── nmpc_N24_gamma4.mat ├── nmpc_N24_gamma4_4.mat ├── nmpc_N24_gamma6.mat ├── nmpc_N24_gamma6_6.mat ├── performance2.png └── trajectory.mat /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HybridRobotics/Iterative-MPC-DHOCBF/HEAD/README.md -------------------------------------------------------------------------------- /benchmark/InitialState.m: 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