@article{measurementrobustcontrolbarrierfunctions,
  title = {Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State},
  author = {Ryan K. Cosner and Andrew W. Singletary and Andrew J. Taylor and Tamas G. Molnar and Katherine L. Bouman and Aaron D. Ames},
  year = {2021},
  eprint = {2104.14030},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2104.14030v1},
}