# Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions

> Research article (2022 International Conference on Robotics and Automation (ICRA), 2022) · cited 77× · AI/ML

**Wikidata**: [openalex:W4285102592](https://www.wikidata.org/wiki/openalex:W4285102592)  
**Source**: https://4ort.xyz/entity/safety-critical-control-and-planning-for-obstacle-avoidance-between-polytopes-with-control-barrier-functions