@article{comparisonbetweensafetymethodscontrol,
  title = {Comparison between safety methods control barrier function vs. reachability analysis},
  author = {Zhichao Li},
  year = {2021},
  eprint = {2106.13176},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2106.13176v1},
}