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Srinivasan, M. et al. (2020). Continuous Reachability Task Transition Using Control Barrier Functions⁎This work was supported in part by the National Science Foundation under award #1749357. C. Santoyo was supported by the NSF Graduate Research Fellowship Program under Grant No. DGE1650044.. IFAC-PapersOnLine. 53 (2), pp. 9696-9701. [Online].