Lyu, Yiwei, Wenhao Luo, and John 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 36, no. 11 (June 28, 2022): 13009–13010. Accessed May 25, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/21641.