@article{constraintlearningforcontroltaskswith,
  title = {Constraint Learning for Control Tasks with Limited Duration Barrier Functions},
  author = {Motoya Ohnishi and Gennaro Notomista and Masashi Sugiyama and Magnus Egerstedt},
  year = {2019},
  eprint = {1908.09506},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1908.09506v3},
}