@misc{cosner2021measurement,
  title={Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State},
  author={Cosner, Ryan K and Singletary, Andrew W and Taylor, Andrew J and Molnar, Tamas G and Bouman, Katherine L and Ames, Aaron D},
  journal={arXiv preprint arXiv:2104.14030},
  year={2021},
  url = {http://ames.caltech.edu/cosner2021measurement.pdf},
  url_video = {https://vimeo.com/520247516}
}

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