@article{aclosedformcontrolforsafetyunderinput,
  title = {A Closed-Form Control for Safety Under Input Constraints Using a Composition of Control Barrier Functions},
  author = {Pedram Rabiee and Jesse B. Hoagg},
  year = {2024},
  eprint = {2406.16874},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2406.16874v2},
}