ARTICLE Andrea_RAS_2026/IDIAP Real-time collision avoidance with robot distance fields in a task-priority framework Govoni, Andrea Cavuoto, Michela Li, Yiming Calinon, Sylvain Palli, Gianluca EXTERNAL https://publications.idiap.ch/attachments/papers/2026/Andrea_RAS_2026.pdf PUBLIC Robotics and Autonomous Systems 2026