@article{adaptivemodelpredictivesafety,
  title = {Adaptive Model Predictive Safety Certification for Learning-based Control -- Extended Version},
  author = {Alexandre Didier and Kim P. Wabersich and Melanie N. Zeilinger},
  year = {2021},
  eprint = {2109.13033},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.13033v2},
}