@ARTICLE{Verdier2019NearOptimalControl,
title = {Near Optimal Control with Reachability and Safety Guarantees},
author = {C.F. Verdier and R. Babu\v{s}ka and B. Shyrokau and M. Mazo, Jr.},
journal = {{IFAC PapersOnLine}},
volume = {52},
number = {11},
pages = {230--235},
year = {2019}
}