@article{pairet2019learningb,
  title={Learning Generalizable Coupling Terms for Obstacle Avoidance via Low-Dimensional Geometric Descriptors},
  author={Pairet, {\`E}ric and Ard{\'o}n, Paola and Mistry, Michael and Petillot, Yvan},
  journal={IEEE Robotics and Automation Letters},
  volume={4},
  number={4},
  pages={3979--3986},
  year={2019},
  publisher={IEEE}
}