@article{improvingtheresilienceofquadrotorsinunde,
  title = {Improving the Resilience of Quadrotors in Underground Environments by Combining Learning-based and Safety Controllers},
  author = {Isaac Ronald Ward and Mark Paral and Kristopher Riordan and Mykel J. Kochenderfer},
  year = {2025},
  eprint = {2509.02808},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.02808},
}