@article{cartcollisionavoidanceandrobusttracking,
  title = {CaRT: Certified Safety and Robust Tracking in Learning-based Motion Planning for Multi-Agent Systems},
  author = {Hiroyasu Tsukamoto and Benjamin Rivière and Changrak Choi and Amir Rahmani and Soon-Jo Chung},
  year = {2023},
  eprint = {2307.08602},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2307.08602v2},
}