@article {9780016,
	title = {Power-based Safety Layer for Aerial Vehicles in Physical Interaction using Lyapunov Exponents},
	journal = {IEEE Robotics and Automation Letters},
	volume = {7},
	year = {2022},
	month = {2022/05},
	pages = {6774-6781},
	doi = {10.1109/LRA.2022.3176959},
	author = {Cuniato, Eugenio and Lawrance, Nicholas Robert Jonathon and Tognon, Marco and Siegwart, Roland}
}
