@article{timevaryingsoftmaximumcontrolbarrier,
  title = {Time-Varying Soft-Maximum Control Barrier Functions for Safety in an A Priori Unknown Environment},
  author = {Amirsaeid Safari and Jesse B. Hoagg},
  year = {2023},
  eprint = {2310.05261},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2310.05261v2},
}