@article{asemialgebraicframeworkforverification,
  title = {A Semi-Algebraic Framework for Verification and Synthesis of Control Barrier Functions},
  author = {Andrew Clark},
  year = {2022},
  eprint = {2209.00081},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2209.00081v3},
}