@article{controlbarrierfunctioncontractsfor,
  title = {Control Barrier Function Contracts for Vehicular Mission Planning Under Signal Temporal Logic Specifications},
  author = {Muhammad Waqas and Nikhil Vijay Naik and Petros Ioannou and Pierluigi Nuzzo},
  year = {2022},
  eprint = {2209.07478},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2209.07478v3},
}