# Multiagent Systems With CBF-Based Controllers: Collision Avoidance and Liveness From Instability

> Research article (IEEE Transactions on Control Systems Technology, 2023) · cited 29× · AI/ML

**Wikidata**: [openalex:W4387917771](https://www.wikidata.org/wiki/openalex:W4387917771)  
**Source**: https://4ort.xyz/entity/multiagent-systems-with-cbf-based-controllers-collision-avoidance-and-liveness-from-instability