@article{hamed2020hierarchical,
  title={Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach},
  author={Hamed, Kaveh Akbari and Kamidi, Vinay R and Ma, Wen-Loong and Leonessa, Alexander and Ames, Aaron D},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  number={1},
  pages={56--63},
  year={2020},
  publisher={IEEE},
  url = {http://ames.caltech.edu/hamed2019hierarchical.pdf}
}


%%%%%%%%%%%%%%% year={2019} %%%%%%%%%%%

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