@article{transformingaquadrupedintoaguiderobot,
  title = {Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism},
  author = {J. Taery Kim and Wenhao Yu and Yash Kothari and Jie Tan and Greg Turk and Sehoon Ha},
  year = {2023},
  eprint = {2306.14055},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2306.14055v1},
}