@article{itstimetoplaysafeshieldsynthesisfor,
  title = {It's Time to Play Safe: Shield Synthesis for Timed Systems},
  author = {Roderick Bloem and Peter Gjøl Jensen and Bettina Könighofer and Kim Guldstrand Larsen and Florian Lorber and Alexander Palmisano},
  year = {2020},
  eprint = {2006.16688},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2006.16688v1},
}