@misc{harms2025safe,
  title={Safe Quadrotor Navigation using Composite Control Barrier Functions},
  author={Marvin Harms and Martin Jacquet and Kostas Alexis},
  year={2025},
  eprint={2502.04101},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2502.04101}
}