Collision Cone
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![[2310.00713] Safety-Critical Control of Nonholonomic Vehicles in ...](https://ar5iv.labs.arxiv.org/html/2310.00713/assets/x2.png "Collision Cone")
![[2509.14421] Perception-Integrated Safety Critical Control via Analytic ...](https://ar5iv.labs.arxiv.org/html/2509.14421/assets/Images/simulation_diff.png "Collision Cone")
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