Hassan Almubarak Manan Gandhi Yuichiro Aoyama Nader Sadegh Evangelos A. Theodorou Gaussian Process Barrier States for Safe Trajectory Optimization and Control. 2022 abs/2212.00268 CoRR https://doi.org/10.48550/arXiv.2212.00268 db/journals/corr/corr2212.html#abs-2212-00268