Hybrid Nonsmooth Barrier Functions With Applications to Provably Safe and Composable Collision Avoidance for Robotic Systems

Paul Glotfelter, Ian Buckley, Magnus Egerstedt. Hybrid Nonsmooth Barrier Functions With Applications to Provably Safe and Composable Collision Avoidance for Robotic Systems. IEEE Robotics and Automation Letters, 4(2):1303-1310, 2019. [doi]

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