@article{taskspacesingularityavoidanceforcontrola,
  title = {Task-Space Singularity Avoidance for Control Affine Systems Using Control Barrier Functions},
  author = {Kimia Forghani and Suraj Raval and Lamar Mair and Axel Krieger and Yancy Diaz-Mercado},
  year = {2026},
  eprint = {2603.23753},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.23753},
}