@article{starfilterefficientconvexfreespaceapprox,
  title = {STAR-Filter: Efficient Convex Free-Space Approximation via Starshaped Set Filtering in Noisy Environments},
  author = {Yuwei Wu and Yichen Zhao and Dexter Ong and Vijay Kumar},
  year = {2026},
  eprint = {2604.26626},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.26626},
}