@article{rulebasedsafetycriticalcontroldesign,
  title = {Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change},
  author = {Suiyi He and Jun Zeng and Bike Zhang and Koushil Sreenath},
  year = {2021},
  eprint = {2103.12382},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.12382v1},
}