@article{backtothefutureefficienttimeconsistent,
  title = {Back to the Future: Efficient, Time-Consistent Solutions in Reach-Avoid Games},
  author = {Dennis R. Anthony and Duy P. Nguyen and David Fridovich-Keil and Jaime F. Fisac},
  year = {2021},
  eprint = {2109.07673},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.07673v3},
}