@article{shieldscalableoptimalcontrolwithcertific,
  title = {SHIELD: Scalable Optimal Control with Certification using Duality and Convexity},
  author = {Hansung Kim and Siddharth H. Nair and Francesco Borrelli},
  year = {2026},
  eprint = {2605.09171},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.09171},
}