@misc{wu2026starfilterefficientconvexfreespace,
      title={STAR-Filter: Efficient Convex Free-Space Approximation via Starshaped Set Filtering in Noisy Environments}, 
      author={Yuwei Wu and Yichen Zhao and Dexter Ong and Vijay Kumar},
      year={2026},
      eprint={2604.26626},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2604.26626}, 
}