# CLF-CBF Constraints for Real-Time Avoidance of Multiple Obstacles in Bipedal Locomotion and Navigation

> Research article (2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023) · cited 12× · AI/ML

**Wikidata**: [openalex:W4389665353](https://www.wikidata.org/wiki/openalex:W4389665353)  
**Source**: https://4ort.xyz/entity/clf-cbf-constraints-for-real-time-avoidance-of-multiple-obstacles-in-bipedal-locomotion-and-navigation