@article{exactsigneddistancecontrolbarrierfunctio,
  title = {Exact Signed-Distance Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopes},
  author = {Yi-Hsuan Chen and Shuo Liu and Wei Xiao and Calin Belta and Michael Otte},
  year = {2026},
  eprint = {2608.02886},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2608.02886},
}