@inproceedings{zeng2021mpccbf-feasibility,
title={Enhancing feasibility and safety of nonlinear model predictive control with discrete-time control barrier functions},
author={Zeng, Jun and Li, Zhongyu and Sreenath, Koushil},
booktitle={2021 Conference on Decision and Control (CDC)},
year={2021},
volume={},
number={},
pages={6137-6144}
}