# Boolean Composability of Constraints and Control Synthesis for Multi-Robot Systems via Nonsmooth Control Barrier Functions

> Research article (2018 IEEE Conference on Control Technology and Applications (CCTA), 2018) · cited 37× · AI/ML

**Wikidata**: [openalex:W2898971174](https://www.wikidata.org/wiki/openalex:W2898971174)  
**Source**: https://4ort.xyz/entity/boolean-composability-of-constraints-and-control-synthesis-for-multi-robot-systems-via-nonsmooth-control-barrier-functio