@ARTICLE{8405547, author={S. Kolathaya and A. D. Ames}, journal={IEEE Control Systems Letters}, title={Input-to-State Safety With Control Barrier Functions}, year={2019}, volume={3}, number={1}, pages={108-113}, keywords={Real-time systems;Robots;Safety;Sensors;Stability criteria;Uncertainty;Safety critical control;autonomous systems;barrier functions;input-to-state safety}, doi={10.1109/LCSYS.2018.2853698}, ISSN={}, month={Jan},}