@article{HeShi:25-011,
author={K. He and S. Shi and T. van den Boom and B. {D}e Schutter},
title={State-Action Control Barrier Functions: {Imposing} Safety on
Learning-Based Control with Low Online Computational Costs},
journal={IEEE Transactions on Automatic Control},
year={2026},
note={To appear},
doi={
10.1109/TAC.2025.3636804}
}