@article{stateactioncontrolbarrierfunctions,
  title = {State-action control barrier functions: Imposing safety on learning-based control with low online computational costs},
  author = {Kanghui He and Shengling Shi and Ton van den Boom and Bart De Schutter},
  year = {2023},
  eprint = {2312.11255},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2312.11255v2},
}