@article{synthesisofsharedcontrolprotocolswith,
  title = {Synthesis of Shared Control Protocols with Provable Safety and Performance Guarantees},
  author = {Nils Jansen and Murat Cubuktepe and Ufuk Topcu},
  year = {2016},
  eprint = {1610.08500},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1610.08500v1},
}