Federica Ferraguti, Chiara Talignani Landi, Andrew Singletary, Hsien-Chung Lin, Aaron D. Ames, Cristian Secchi, Marcello Bonfè. Safety and Efficiency in Robotics: The Control Barrier Functions Approach. IEEE Robot. Automat. Mag., 29(3):139-151, 2022. [doi]
Abstract is missing.