@article{nearlyoptimalnonlinearsafecontrolwith,
  title = {Nearly Optimal Nonlinear Safe Control with BaS-SDRE},
  author = {Hassan Almubarak and Maitham F. AL-Sunni and Justin T. Dubbin and Nader Sadegh and John M. Dolan and Evangelos A. Theodorou},
  year = {2025},
  eprint = {2504.15453},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2504.15453v1},
}