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Robust Collision Avoidance and Path-Following of USVs With Reduced Conservativeness: A Control Barrier Function-Based Approach

Guanghui Wen, Junjie Fu, Hang Lu, Jianfei Sun, Han Shen. Robust Collision Avoidance and Path-Following of USVs With Reduced Conservativeness: A Control Barrier Function-Based Approach. J. Field Robotics, 42(4):1388-1400, June 2025. [doi]

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