@article{decentralizedcontingencympcbasedonsafese,
  title = {Decentralized Contingency MPC based on Safe Sets for Nonlinear Multi-agent Collision Avoidance},
  author = {Max Studt and Georg Schildbach},
  year = {2026},
  eprint = {2605.10738},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.10738},
}