@article{composingcontrolbarrierfunctionsfor,
  title = {Composing Control Barrier Functions for Complex Safety Specifications},
  author = {Tamas G. Molnar and Aaron D. Ames},
  year = {2023},
  eprint = {2309.06647},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2309.06647v2},
}