@misc{ahmadi2020riskBF,
  title={Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion},
  author={Ahmadi, Mohamadreza and Xiong, Xiaobin and Ames, Aaron D},
  journal={arXiv preprint arXiv:2011.01578},
  year={2020},
  url = {http://ames.caltech.edu/ahmadi2020riskBF.pdf}
}

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