@article{xu2026ttcbf,
 archiveprefix = {arXiv},
 author = {Xu, Jianye and Alrifaee, Bassam},
 doi = {10.48550/arXiv.2601.15196},
 eprint = {2601.15196},
 journal = {arXiv preprint arXiv:2601.15196},
 primaryclass = {eess},
 publisher = {arXiv},
 title = {TTCBF: A Truncated Taylor Control Barrier Function for High-Order Safety Constraints},
 year = {2026}
}