@article{singletary2021safety,
  title={Safety-Critical Kinematic Control of Robotic Systems},
  author={Singletary, Andrew and Kolathaya, Shishir and Ames, Aaron D},
  journal={IEEE Control Systems Letters},
  year={2021},
  publisher={IEEE},
  url = {http://ames.caltech.edu/singletary2021safety.pdf},
  url_video = {https://www.youtube.com/watch?v=ilLRA7fpVBI}
}

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