A Real-Time Control Barrier Function-Based Safety Filter for Motion Planning with Arbitrary Road Boundary ConstraintsJan 1, 2025·Jianye Xu,Chang Che,Bassam Alrifaee· 0 min read Cite DOITypeConference paperPublication2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC)Last updated on Jan 1, 2025 ← A Learning-Based Control Barrier Function for Car-Like Robots: Toward Less Conservative Collision Avoidance Jan 1, 2025High-Order Control Barrier Functions: Insights and a Truncated Taylor-Based Formulation Jan 1, 2025 →