feasibility topic
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feasibility repositories
CBF-Pointwise-Feasibility
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"Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. Li and K. Sreenath https://arxiv.org/pdf/2103.12375.pdf
jagua-rs
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A fast and fearless Collision Detection Engine for 2D nesting problems