@article{lippi2021human1,
	year         = 2021,
	author       = {Lippi, Martina and Marino, Alessandro},
	title        = {Human Multi-Robot Safe Interaction: A Trajectory Scaling Approach Based on Safety Assessment},
	journal      = {IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY},
	doi          = {10.1109/TCST.2020.3009031},
	pages        = {1--16},
	number       = 4
}

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