# Rule-Based Safe Probabilistic Movement Primitive Control via Control Barrier Functions

> Research article (IEEE Transactions on Automation Science and Engineering, 2022) · cited 14× · AI/ML

**Wikidata**: [openalex:W4312757239](https://www.wikidata.org/wiki/openalex:W4312757239)  
**Source**: https://4ort.xyz/entity/rule-based-safe-probabilistic-movement-primitive-control-via-control-barrier-functions