@article{safetyembeddedadaptivecontrolusing,
  title = {Safety Embedded Adaptive Control Using Barrier States},
  author = {Maitham F. AL-Sunni and Hassan Almubarak and John M. Dolan},
  year = {2025},
  eprint = {2504.15423},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2504.15423v1},
}