@article{runtimeassuranceforsafetycritical,
  title = {Run Time Assurance for Safety-Critical Systems: An Introduction to Safety Filtering Approaches for Complex Control Systems},
  author = {Kerianne Hobbs and Mark Mote and Matthew Abate and Samuel Coogan and Eric Feron},
  year = {2021},
  eprint = {2110.03506},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2110.03506v2},
}