Optimization-free Smooth Control Barrier Function for Polygonal Collision Avoidance

@misc{liang2025optimizationfreesmoothcontrol,
      title={Optimization-free Smooth Control Barrier Function for Polygonal  Collision Avoidance}, 
      author={Xiao Liang and Yiming Zhao and Ning Sun and Biao Lu and Yongchun Fang and Shizhen Wu},
      year={2025},
      eprint={2502.16293},
      archivePrefix={arXiv},
      primaryClass={math.OC},
      url={https://arxiv.org/abs/2502.16293}, 
}