# Hybrid Nonsmooth Barrier Functions With Applications to Provably Safe and Composable Collision Avoidance for Robotic Systems

> Research article (IEEE Robotics and Automation Letters, 2019) · cited 90× · AI/ML

**Wikidata**: [openalex:W2914003710](https://www.wikidata.org/wiki/openalex:W2914003710)  
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