@incollection{Prajna_2005,
    doi = {10.1007/978-3-540-31954-2_35},
    url = {https://doi.org/10.1007%2F978-3-540-31954-2_35},
    year = {2005},
    publisher = {Springer Berlin Heidelberg},
    pages = {542--556},
    author = {Stephen Prajna and Anders Rantzer},
    title = {Primal{\textendash}Dual Tests for Safety and Reachability},
    booktitle = {Hybrid Systems: Computation and Control}
}

@incollection{Prajna_2005, doi = {10.1007/978-3-540-31954-2_35}, url = {https://doi.org/10.1007%2F978-3-540-31954-2_35}, year = {2005}, publisher = {Springer Berlin Heidelberg}, pages = {542--556}, author = {Stephen Prajna and Anders Rantzer}, title = {Primal{\textendash}Dual Tests for Safety and Reachability}, booktitle = {Hybrid Systems: Computation and Control} }