@inproceedings{davoodi2021probabilistic,
  title={Probabilistic Movement Primitive Control via Control Barrier Functions},
  author={Davoodi, Mohammadreza and Iqbal, Asif and Cloud, Joseph M and Beksi, William J and Gans, Nicholas R},
  booktitle={Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE)},
  pages={697--703},
  year={2021}
}