@article{predictedflowcontrolbarrierfunctionsforr,
  title = {Predicted-Flow Control Barrier Functions for Real-Time Safe Optimal Control},
  author = {Amirsaeid Safari and Jesse B. Hoagg},
  year = {2026},
  eprint = {2606.00297},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.00297},
}