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@article{wang2017safety,
  title={Safety Barrier certificates for collisions-free multirobot systems},
  author={Wang, Li and Ames, Aaron D and Egerstedt, Magnus},
  journal={IEEE Transactions on Robotics},
  volume={33},
  number={3},
  pages={661--674},
  year={2017},
  publisher={IEEE},
  url ={http://ames.caltech.edu/wang2017safety.pdf},
  url_video = {https://youtu.be/-WUkzik1_VQ},
  keywords = {Control Barrier Functions (CBFs), Safety-Critical Control, Swarm Robotics, Cyber-Physical Systems (CPS)}
}