@article{parameterizedbarrierfunctionstoguarantee,
  title = {Parameterized Barrier Functions to Guarantee Safety under Uncertainty},
  author = {Anil Alan and Tamas G. Molnar and Aaron D. Ames and Gábor Orosz},
  year = {2023},
  eprint = {2303.11385},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2303.11385v1},
}