@article{collisionavoidanceforellipticalagents,
  title = {Collision Avoidance for Elliptical Agents with Control Barrier Function Utilizing Supporting Lines},
  author = {Koju Nishimoto and Riku Funada and Tatsuya Ibuki and Mitsuji Sampei},
  year = {2022},
  eprint = {2204.13287},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2204.13287v1},
}