@article{multistepmodelpredictivesafetyfilters,
  title = {Multi-Step Model Predictive Safety Filters: Reducing Chattering by Increasing the Prediction Horizon},
  author = {Federico Pizarro Bejarano and Lukas Brunke and Angela P. Schoellig},
  year = {2023},
  eprint = {2309.11453},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2309.11453v1},
}