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CLF-CBF Constraints for Real-Time Avoidance of Multiple Obs..:

, In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Liu, Jinze ; Li, Minzhe ; Grizzle, Jessy W.. - p. 10497-10504 , 2023
Link: https://doi.org/10.1109/IROS55552.2023.10341626