@article{safetyawarepolicyoptimisationfor1,
  title = {Safe Autonomous Racing via Approximate Reachability on Ego-vision},
  author = {Bingqing Chen and Jonathan Francis and Jean Oh and Eric Nyberg and Sylvia L. Herbert},
  year = {2021},
  eprint = {2110.07699},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2110.07699v2},
}