@article{riskawarerobotcontrolindynamic,
  title = {Risk-Aware Robot Control in Dynamic Environments Using Belief Control Barrier Functions},
  author = {Shaohang Han and Matti Vahs and Jana Tumova},
  year = {2025},
  eprint = {2504.04097},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2504.04097v1},
}