@inproceedings{wang2016safety,
  title={Safety barrier certificates for heterogeneous multi-robot systems},
  author={Wang, Li and Ames, Aaron D and Egerstedt, Magnus},
  booktitle={American Control Conference (ACC), 2016},
  pages={5213--5218},
  year={2016},
  organization={IEEE},
  url = {http://ames.caltech.edu/2016ACC_Hetero_Barrier_vFinal.pdf},
  url_video = {https://youtu.be/9RnV18u1T0g},
  keywords = {Control Barrier Functions (CBFs), Safety-Critical Control, Swarm Robotics, Cyber-Physical Systems (CPS)}
}

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