Kehan Long Khoa Tran Melvin Leok Nikolay Atanasov 0001 Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments. 312-317 2024 ACC https://doi.org/10.23919/ACC60939.2024.10644481 conf/amcc/2024 db/conf/amcc/acc2024.html#LongTLA24 streams/conf/amcc