# Safe Control for Navigation in Cluttered Space Using Multiple Lyapunov-Based Control Barrier Functions

> Research article (IEEE Robotics and Automation Letters, 2024) · cited 27× · AI/ML

**Wikidata**: [openalex:W4390591081](https://www.wikidata.org/wiki/openalex:W4390591081)  
**Source**: https://4ort.xyz/entity/safe-control-for-navigation-in-cluttered-space-using-multiple-lyapunov-based-control-barrier-functions