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Collision-Free Navigation in Human-Following Task Using a C..:

Dang, Chien Van ; Ahn, Heungju ; Kim, Jong-Wook.
IEEE Transactions on Cognitive and Developmental Systems.  15 (2023)  1 - p. 78-87 , 2023
Link: https://doi.org/10.1109/tcds.2022.3145915