# Flexible Active Safety Motion Control for Robotic Obstacle Avoidance: A CBF-Guided MPC Approach

> Research article (IEEE Robotics and Automation Letters, 2025) · cited 20× · AI/ML

**Wikidata**: [openalex:W4406856911](https://www.wikidata.org/wiki/openalex:W4406856911)  
**Source**: https://4ort.xyz/entity/flexible-active-safety-motion-control-for-robotic-obstacle-avoidance-a-cbf-guided-mpc-approach