@misc{chen2021backup,
  title={Backup Control Barrier Functions: Formulation and Comparative Study},
  author={Chen, Yuxiao and Jankovic, Mrdjan and Santillo, Mario and Ames, Aaron D},
  journal={arXiv preprint arXiv:2104.11332},
  year={2021},
  url = {http://ames.caltech.edu/chen2021backup.pdf}
}

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