Jianye Xu Jianye Xu

Ph.D. Student

@ GH in G
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  • Publications
    • Beyond Safety Filtering: Control Barrier Function-Informed Reinforcement Learning for Connected and Automated Vehicles
    • Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap
    • TTCBF: A Truncated Taylor Control Barrier Function for High-Order Safety Constraints
    • Zero-Shot MARL Benchmark in the Cyber-Physical Mobility Lab
    • A Learning-Based Control Barrier Function for Car-Like Robots: Toward Less Conservative Collision Avoidance
    • A Real-Time Control Barrier Function-Based Safety Filter for Motion Planning with Arbitrary Road Boundary Constraints
    • High-Order Control Barrier Functions: Insights and a Truncated Taylor-Based Formulation
    • A Survey on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: A Guide for Creating a New Testbed
    • Educational Applications of the Cyber-Physical Mobility Lab: A Summary
    • Limiting Computation Levels in Prioritized Trajectory Planning with Safety Guarantees
    • SigmaRL: A Sample-Efficient and Generalizable Multi-Agent Reinforcement Learning Framework for Motion Planning
    • XP-MARL: Auxiliary Prioritization in Multi-Agent Reinforcement Learning to Address Non-Stationarity
    • Cyber-Physical Mobility Lab: An Open-Source Platform for Networked and Autonomous Vehicles
  • Experience
  • News
    • 📚 Join our "1st Workshop on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms" at IEEE IV 2024!
    • 🏎️🏁 Join our CPM Olympics
  • Projects
    • Control Barrier Functions for Safe Reinforcement Learning
    • Multi-Agent Reinforcement Learning and its Applications in Connected and Automated Vehicles
    • Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms
  • Teaching
    • Control and Perception in Connected and Autonomous Vehicles 🚗
    • Supervised Seminar Works 📚
    • Supervised Theses 🎓

TTCBF: A Truncated Taylor Control Barrier Function for High-Order Safety Constraints

Jan 1, 2026·
Jianye Xu
,
Bassam Alrifaee
· 0 min read
Cite DOI arXiv
Type
Journal article
Publication
arXiv preprint arXiv:2601.15196
Last updated on Jan 1, 2026
← Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap Jan 1, 2026
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