# Adaptive Safe Merging Control for Heterogeneous Autonomous Vehicles using Parametric Control Barrier Functions

> Research article (2022 IEEE Intelligent Vehicles Symposium (IV), 2022) · cited 18× · AI/ML

**Wikidata**: [openalex:W4285813050](https://www.wikidata.org/wiki/openalex:W4285813050)  
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