{"id":"2604.04409","title":"FORMULA: FORmation MPC with neUral barrier Learning for safety Assurance","url":"https://codeofpaper.com/paper/2604.04409","arxiv_url":"https://arxiv.org/abs/2604.04409","published":"2026-04-06","code":"none","best":null,"most_starred_community":null,"implementations":[],"possible_matches":0}