1. Zeroing Control Barrier Functions for Safe Volitional Pedaling in a Motorized Cycle⁎This research is supported in part by AFOSR award number FA9550-19-1-0169 and NSF Award number 1762829. Any opinions, findings and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reect the views of the sponsoring agency. Issue 5 (2020) Authors: Isaly, Axton; Allen, Brendon C.; Sanfelice, Ricardo G.; Dixon, Warren E. Journal: IFAC-PapersOnLine Issue: Volume 53:Issue 5(2020) Page Start: 218 Record Type: Journal Article View Content: Available online (eLD content is only available in our Reading Rooms) ↗