@article{risksensitivesafetyanalysisusing,
  title = {Risk-sensitive safety analysis using Conditional Value-at-Risk},
  author = {Margaret P. Chapman and Riccardo Bonalli and Kevin M. Smith and Insoon Yang and Marco Pavone and Claire J. Tomlin},
  year = {2021},
  eprint = {2101.12086},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2101.12086v3},
}