@article{onboardsafetyguaranteesforracingdrones,
  title = {Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions},
  author = {Andrew Singletary and Aiden Swann and Yuxiao Chen and Aaron D. Ames},
  year = {2022},
  eprint = {2201.04331},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2201.04331v1},
}