A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems. Fisac, J. F.; Akametalu, A. K.; Zeilinger, M. N.; Kaynama, S.; Gillula, J. H.; and Tomlin, C. J. IEEE Trans. Autom. Control., 64(7):2737–2752, 2019.
A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems [link]Paper  doi  bibtex   
@article{DBLP:journals/tac/FisacAZKGT19,
  author    = {Jaime F. Fisac and
               Anayo K. Akametalu and
               Melanie N. Zeilinger and
               Shahab Kaynama and
               Jeremy H. Gillula and
               Claire J. Tomlin},
  title     = {A General Safety Framework for Learning-Based Control in Uncertain
               Robotic Systems},
  journal   = {{IEEE} Trans. Autom. Control.},
  volume    = {64},
  number    = {7},
  pages     = {2737--2752},
  year      = {2019},
  url       = {https://doi.org/10.1109/TAC.2018.2876389},
  doi       = {10.1109/TAC.2018.2876389},
  timestamp = {Wed, 20 May 2020 01:00:00 +0200},
  biburl    = {https://dblp.org/rec/journals/tac/FisacAZKGT19.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}
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