@article{auxiliaryvariableadaptivecontrolbarrier,
  title = {Auxiliary-Variable Adaptive Control Barrier Functions},
  author = {Shuo Liu and Wei Xiao and Calin A. Belta},
  year = {2025},
  eprint = {2502.15026},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2502.15026v2},
}