A formal safety net for waypoint following in ground robots

@ARTICLE{DBLP:journals/ral/BohrerTMSP19,
	study = {https://ieeexplore.ieee.org/ielx7/7083369/8668830/8736770/lra-bohrer-2923099-mm.zip},

  author    = {Brandon Bohrer and
               Yong Kiam Tan and
               Stefan Mitsch and
               Andrew Sogokon and
               Andr{\'{e}} Platzer},
  title     = {A Formal Safety Net for
               Waypoint Following in Ground Robots},
  journal   = {{IEEE} Robotics and Automation Letters},
  volume    = {4},
  number    = {3},
  year      = {2019},
  pages     = {2910-2917},
  doi       = {10.1109/LRA.2019.2923099},
}```