Avoidance Control with Relative Velocity Information for Lagrangian Dynamics. - Zhang, Wenxue; Rodríguez-Seda, Erick J.; Deka, Shankar A.; Amrouche, Massinissa; Zhou, Di; Stipanovic, Dusan M.; Leitmann, George (J. Intell. Robotic Syst., 2020)