@inproceedings{xu2025realtime,
 author = {Xu, Jianye and Che, Chang and Alrifaee, Bassam},
 booktitle = {2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC)},
 doi = {10.1109/ITSC60802.2025.11423203},
 pages = {2818--2825},
 title = {A Real-Time Control Barrier Function-Based Safety Filter for Motion Planning with Arbitrary Road Boundary Constraints},
 year = {2025}
}