@inproceedings{ames2014control,
  title={Control barrier function based quadratic programs with application to adaptive cruise control},
  author={Ames, Aaron D and Grizzle, Jessy W and Tabuada, Paulo},
  booktitle={Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on},
  pages={6271--6278},
  year={2014},
  organization={IEEE},
  url = {http://ames.caltech.edu/CLF_QP_ACC_final.pdf}
}

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