@article{distributedcontrolbarrierfunctionsforsaf,
  title = {Distributed Control Barrier Functions for Safe Multi-Vehicle Navigation in Heterogeneous USV Fleets},
  author = {Tyler Paine and Brendan Long and Jeremy Wenger and Michael DeFilippo and James Usevitch and Michael Benjamin},
  year = {2026},
  eprint = {2601.11335},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2601.11335},
}