@article{ames2017cbf,
  title={Control barrier function based quadratic programs for safety critical systems},
  author={Ames, Aaron D and Xu, Xiangru and Grizzle, Jessy W and Tabuada, Paulo},
  journal={IEEE Transactions on Automatic Control},
  volume={62},
  number={8},
  pages={3861--3876},
  year={2017},
  publisher={IEEE},
  url = {http://ames.caltech.edu/ames2017cbf.pdf},
  keywords = {Control Barrier Functions (CBFs), Safety-Critical Control}
}

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