@article{backupcontrolbarrierfunctionsformulation,
  title = {Backup Control Barrier Functions: Formulation and Comparative Study},
  author = {Yuxiao Chen and Mrdjan Jankovic and Mario Santillo and Aaron D. Ames},
  year = {2021},
  eprint = {2104.11332},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2104.11332v1},
}