@article{BahatiDRDCBF,
title={Control Barrier Function Synthesis for Nonlinear Systems with Dual Relative Degree},
author={G. Bahati and R. K. Cosner and M. H. Cohen and R. M. Bena and A. D. Ames},
journal={arXiv preprint arXiv:2504.00397},
year={2025}
}