# Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions

> Research article (2022 International Conference on Robotics and Automation (ICRA), 2022) · cited 34× · AI/ML

**Wikidata**: [openalex:W4225691553](https://www.wikidata.org/wiki/openalex:W4225691553)  
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