@inproceedings{akella2020formal,
  title={Formal test synthesis for safety-critical autonomous systems based on control barrier functions},
  author={Akella, Prithvi and Ahmadi, Mohamadreza and Murray, Richard M and Ames, Aaron D},
  booktitle={2020 59th IEEE Conference on Decision and Control (CDC)},
  pages={790--795},
  year={2020},
  organization={IEEE},
  url = {http://ames.caltech.edu/akella2020formal.pdf}
}

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