@InProceedings{ BarrySaftey12,
	title = "Safety Verification of Reactive Controllers for UAV Flight in Cluttered Environments Using Barrier Certificates",
	booktitle = "Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA)",
	author = "Andrew J. Barry and Anirudha Majumdar and Russ Tedrake",
	year = "2012"
}