@article{riskawaresafecontrolfordecentralized,
  title = {Risk-aware Safe Control for Decentralized Multi-agent Systems via Dynamic Responsibility Allocation},
  author = {Yiwei Lyu and Wenhao Luo and John M. Dolan},
  year = {2023},
  eprint = {2305.13467},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2305.13467v1},
}