@article{aclosedformclfcbfcontrollerforwholebodyc,
  title = {A Closed-Form CLF-CBF Controller for Whole-Body Continuum Soft Robot Collision Avoidance},
  author = {Kiwan Wong and Maximillian Stölzle and Wei Xiao and Daniela Rus},
  year = {2026},
  eprint = {2603.19424},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.19424},
}