@INPROCEEDINGS{9838184,
  author={Choudhary, Yogita and Kolathaya, Shishir},
  booktitle={2022 European Control Conference (ECC)}, 
  title={Energy based Control Barrier functions for Robotic Manipulators with Large Safety Constraints}, 
  year={2022},
  volume={},
  number={},
  pages={1328-1335},
  doi={10.23919/ECC55457.2022.9838184}}