# Dual-Mode Human-Robot Collaboration With Guaranteed Safety Using Time-Varying Zeroing Control Barrier Functions and Quadratic Program

> Research article (IEEE Robotics and Automation Letters, 2023) · cited 12× · AI/ML

**Wikidata**: [openalex:W4385486332](https://www.wikidata.org/wiki/openalex:W4385486332)  
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