@article{fixedtimeconvergenthigherordercontrol,
  title = {Higher Order Convergent Control Barrier Functions for Leader-Follower Multi-Agent Systems under STL Tasks},
  author = {Maryam Sharifi and Dimos V. Dimarogonas},
  year = {2021},
  eprint = {2103.15604},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.15604v2},
}