@article{chen2018obstacle,
  title={Obstacle Avoidance for Low-Speed Autonomous Vehicles With Barrier Function},
  author={Chen, Yuxiao and Peng, Huei and Grizzle, Jessy},
  journal={IEEE Transactions on Control Systems Technology},
  volume={26},
  number={1},
  pages={194--206},
  year={2018},
  publisher={IEEE},
  url = {https://pdfs.semanticscholar.org/6aa8/36c848bb0c299a86ae9f264e5d3259edf8fc.pdf}
}

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