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Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions

Suiyi He, Jun Zeng, Koushil Sreenath. Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions. In 2022 International Conference on Robotics and Automation, ICRA 2022, Philadelphia, PA, USA, May 23-27, 2022. pages 3444-3451, IEEE, 2022. [doi]

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