@misc{zheng2023safe,
  title={Safe Navigation using Density Functions},
  author={Andrew Zheng and Sriram S. K. S. Narayanan and Umesh Vaidya},
  year={2023},
  eprint={2306.15830},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  doi={10.1109/LRA.2023.3311334},
  url={https://arxiv.org/abs/2306.15830}
}