@article{compositionofcontrolbarrierfunctionswith,
  title = {Composition of Control Barrier Functions With Differing Relative Degrees for Safety Under Input Constraints},
  author = {Pedram Rabiee and Jesse B. Hoagg},
  year = {2023},
  eprint = {2310.00363},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2310.00363v2},
}