@article{disturbanceobserverparameterizedcontrol,
  title = {Disturbance Observer-Parameterized Control Barrier Function with Adaptive Safety Bounds},
  author = {Ziqi Yang and Lihua Xie},
  year = {2024},
  eprint = {2412.07349},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2412.07349v3},
}