# DiffOcclusion: Differentiable Optimization Based Control Barrier Functions for Occlusion-Free Visual Servoing

> Research article (IEEE Robotics and Automation Letters, 2024) · cited 21× · AI/ML

**Wikidata**: [openalex:W4391697148](https://www.wikidata.org/wiki/openalex:W4391697148)  
**Source**: https://4ort.xyz/entity/diffocclusion-differentiable-optimization-based-control-barrier-functions-for-occlusion-free-visual-servoing