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', 'Yong Kiam Tan', 'Stefan Mitsch', 'Andrew Sogokon', 'André 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}
}