@article{safecontrolalgorithmsusingenergy,
  title = {Safe Control Algorithms Using Energy Functions: A Unified Framework, Benchmark, and New Directions},
  author = {Tianhao Wei and Changliu Liu},
  year = {2019},
  eprint = {1908.01883},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1908.01883v1},
}