Control Barrier Functions in UGVs for Kinematic Obstacle Avoidance: A Collision Cone Approach. - Phani Thontepu; Bhavya Giri Goswami; Neelaksh Singh; Shyamsundar P. I; Shyam Sundar M. G; Suresh Sundaram; Vaibhav Katewa; Shishir Kolathaya (CoRR, 2022)