@ARTICLE{singletary_safety_2021,  
author={Singletary, Andrew and Kolathaya, Shishir and Ames, Aaron D.},  
journal={IEEE Control Systems Letters},   
title={Safety-Critical Kinematic Control of Robotic Systems},   
year={2022},  
volume={6},  
number={},  
pages={139-144},  
doi={10.1109/LCSYS.2021.3050609}}