# Provably Safe Control of Lagrangian Systems in Obstacle-Scattered Environments

> Research article (2020 59th IEEE Conference on Decision and Control (CDC), 2020) · cited 16× · AI/ML

**Wikidata**: [openalex:W3083134944](https://www.wikidata.org/wiki/openalex:W3083134944)  
**Source**: https://4ort.xyz/entity/provably-safe-control-of-lagrangian-systems-in-obstacle-scattered-environments