@article{barrierstatesembeddediterativedynamic,
  title = {Barrier States Embedded Iterative Dynamic Game for Robust and Safe Trajectory Optimization},
  author = {Hassan Almubarak and Evangelos A. Theodorou and Nader Sadegh},
  year = {2021},
  eprint = {2111.02979},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2111.02979v2},
}