@misc{sanyal2024asma,
  title={ASMA: An Adaptive Safety Margin Algorithm for Vision-Language Drone Navigation via Scene-Aware Control Barrier Functions},
  author={Sourav Sanyal and Kaushik Roy},
  year={2024},
  eprint={2409.10283},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2409.10283}
}