@article{controlbarrierfunctionsynthesisfor,
  title = {Control Barrier Function Synthesis for Nonlinear Systems with Dual Relative Degree},
  author = {Gilbert Bahati and Ryan K. Cosner and Max H. Cohen and Ryan M. Bena and Aaron D. Ames},
  year = {2025},
  eprint = {2504.00397},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2504.00397v1},
}