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Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance

Andrew Singletary, Karl Klingebiel, Joseph Bourne, N. Andrew Browning, Phil Tokumaru, Aaron D. Ames. Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021. pages 8129-8136, IEEE, 2021. [doi]

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Andrew Singletary

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Karl Klingebiel

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Joseph Bourne

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N. Andrew Browning

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Phil Tokumaru

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Aaron D. Ames

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