# Backup Control Barrier Functions: Formulation and Comparative Study

> Research article (2021 60th IEEE Conference on Decision and Control (CDC), 2021) · cited 59× · AI/ML

**Wikidata**: [openalex:W3159266051](https://www.wikidata.org/wiki/openalex:W3159266051)  
**Source**: https://4ort.xyz/entity/backup-control-barrier-functions-formulation-and-comparative-study