@article{exactefficientandsafeocclusionawareplann,
  title = {Exact, Efficient, and Safe Occlusion-Aware Planning Using AH-Polyhedrons},
  author = {Long Kiu Chung and David Isele and Toktam Mohammadnejad and Faizan M. Tariq and Sangjae Bae and Shreyas Kousik and Jovin D'sa},
  year = {2026},
  eprint = {2606.15046},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.15046},
}