# Safety Planning Using Control Barrier Function: A Model Predictive Control Scheme

> Research article (2019 IEEE 2nd Connected and Automated Vehicles Symposium (CAVS), 2019) · cited 11× · AI/ML

**Wikidata**: [openalex:W2982704109](https://www.wikidata.org/wiki/openalex:W2982704109)  
**Source**: https://4ort.xyz/entity/safety-planning-using-control-barrier-function-a-model-predictive-control-scheme