@misc{zhang2024gcbf,
  title={GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control},
  author={Songyuan Zhang and Oswin So and Kunal Garg and Chuchu Fan},
  year={2024},
  eprint={2401.14554},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2401.14554}
}