@article{xu2015robustness,
  title={Robustness of Control Barrier Functions for Safety Critical Control},
  author={Xu, Xiangru and Tabuada, Paulo and Grizzle, Jessy W and Ames, Aaron D},
  journal={IFAC-PapersOnLine},
  volume={48},
  number={27},
  pages={54--61},
  year={2015},
  publisher={Elsevier},
  url = {http://ames.caltech.edu/ADHS15_Final.pdf}
}

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