Lyu, Y., W. Luo, and J. M. Dolan. “Adaptive Safe Behavior Generation for Heterogeneous Autonomous Vehicles Using Parametric-Control Barrier Functions (Student Abstract)”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 36, no. 11, June 2022, pp. 13009-10, doi:10.1609/aaai.v36i11.21641.