Learning-Based Control Barrier Function with Provably Safe Guarantees: Reducing Conservatism with Heading-Aware Safety MarginJan 1, 2025·Jianye Xu,Bassam Alrifaee· 0 min read Cite arXivTypeConference paperPublicationEuropean Control Conference (ECC), in PressLast updated on Jan 1, 2025 ← High-Order Control Barrier Functions: Insights and a Truncated Taylor-Based Formulation Jan 1, 2025Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap Jan 1, 2025 →