@misc{singletary2020comparative,
  title={Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance},
  author={Singletary, Andrew and Klingebiel, Karl and Bourne, Joseph and Browning, Andrew and Tokumaru, Phil and Ames, Aaron},
  journal={arXiv preprint arXiv:2010.09819},
  year={2020},
  url = {http://ames.caltech.edu/singletary2020comparative.pdf},
  url_video = {https://vimeo.com/468799586}
}

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