@article{safetycasetemplatesforautonomoussystems,
  title = {Safety Case Templates for Autonomous Systems},
  author = {Robin Bloomfield and Gareth Fletcher and Heidy Khlaaf and Luke Hinde and Philippa Ryan},
  year = {2021},
  eprint = {2102.02625},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2102.02625v2},
}