Publications

Jianye Xu, Bassam Alrifaee, Johannes Betz, Armin Mokhtarian, Archak Mittal, Mengchi Cai, Rahul Mangharam, Omar M. Shehata, Catherine M. Elias, Jan-Nico Zaech, Patrick Scheffe, Felix Jahncke, Sangeet Sankaramangalam Ulhas, Kaj Munhoz Arfvidsson (2025). Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap. arXiv preprint arXiv:2503.05656.
Cite DOI arXiv
Jianye Xu, Bassam Alrifaee (2025). Learning-Based Control Barrier Function with Provably Safe Guarantees: Reducing Conservatism with Heading-Aware Safety Margin. European Control Conference (ECC), in Press.
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Jianye Xu, Bassam Alrifaee (2025). High-Order Control Barrier Functions: Insights and a Truncated Taylor-Based Formulation. arXiv preprint arXiv:2503.15014.
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Jianye Xu, Omar Sobhy, Bassam Alrifaee (2024). XP-MARL: Auxiliary Prioritization in Multi-Agent Reinforcement Learning to Address Non-Stationarity. arXiv preprint arXiv:2409.11852.
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Jianye Xu, Pan Hu, Bassam Alrifaee (2024). SigmaRL: A Sample-Efficient and Generalizable Multi-Agent Reinforcement Learning Framework for Motion Planning. 2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC).
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Patrick Scheffe, Jianye Xu, Bassam Alrifaee (2024). Limiting Computation Levels in Prioritized Trajectory Planning with Safety Guarantees. 2024 European Control Conference (ECC).
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Simon Schäfer, Jianye Xu, David Klüner, Armin Mokhtarian, Patrick Scheffel, Bassam Alrifaee (2024). Educational Applications of the Cyber-Physical Mobility Lab: A Summary. 2024 European Control Conference (ECC).
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Armin Mokhtarian, Jianye Xu, Patrick Scheffe, Maximilian Kloock, Simon Schäfer, Heeseung Bang, Viet-Anh Le, Sangeet Ulhas, Johannes Betz, Sean Wilson, Spring Berman, Liam Paull, Amanda Prorok, Bassam Alrifaee (2024). A Survey on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: A Guide for Creating a New Testbed. IEEE Robotics & Automation Magazine.
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