@inproceedings{nilsson2018barrier,
  title={Barrier functions: Bridging the gap between planning from specifications and safety-critical control},
  author={Nilsson, Petter and Ames, Aaron D},
  booktitle={2018 IEEE Conference on Decision and Control (CDC)},
  pages={765--772},
  year={2018},
  organization={IEEE},
 url = {http://ames.caltech.edu/nilsson2018barrier.pdf}
}

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