@article{readinessbarrierfunctionsforwardinvarian,
  title = {Readiness Barrier Functions: Forward-Invariant Control Authority for Overactuated Multirotor Allocation},
  author = {Giuseppe Silano},
  year = {2026},
  eprint = {2608.16335},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2608.16335},
}