@article{Long_LearningCBF_RAL21,
    author = {Long, Kehan and Qian, Cheng and Cort\'es, Jorge and Atanasov, Nikolay},
    title = {{Learning Barrier Functions with Memory for Robust Safe Navigation}},
    journal = {IEEE Robotics and Automation Letters (RA-L)},
    year = {2021},
    volume = {6},
    number = {3},
    pages = {4931-4938},
    doi = {https://doi.org/10.1109/LRA.2021.3070250}
}