@INPROCEEDINGS{9703149,
  author={P., Varun V. and Vinod, Abraham P. and Kolathaya, Shishir},
  booktitle={2021 Seventh Indian Control Conference (ICC)}, 
  title={Motion Planning With Dynamic Obstacles Using Convexified Control Barrier Functions}, 
  year={2021},
  volume={},
  number={},
  pages={81-86},
  doi={10.1109/ICC54714.2021.9703149}}