@article{kolathaya2019input,
  title={Input-to-State Safety with Control Barrier Functions},
  author={Kolathaya, Shishir and Ames, Aaron D},
  journal={IEEE Control Systems Letters},
  volume={3},
  number={1},
  pages={108--113},
  year={2019},
  publisher={IEEE},
  url = {http://ames.caltech.edu/kolathaya2019input.pdf}
}



%%%%%%%%%%%%%%% year={2018} %%%%%%%%%%%

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