17 citations · 25 across the 18 of their papers we have counts for
22 papers
Beyond Safety Filtering: Control Barrier Function-Informed Reinforcement Learning for Connected and Automated Vehicles
Jianye Xu, Bassam Alrifaee
Reinforcement Learning (RL) uses rewards to guide learning, yet reward design is typically hand-crafted using heuristics that can be difficult to tune. We propose a Control Barrier…
Ufil: A Unified Framework for Infrastructure-based Localization
Simon Schäfer, Lucas Hegerath, Marius Molz +2
Infrastructure-based localization enhances road safety and traffic management by providing state estimates of road users. Development is hindered by fragmented, application-specifi…
TTCBF: A Truncated Taylor Control Barrier Function for High-Order Safety Constraints
Jianye Xu, Bassam Alrifaee
Control Barrier Functions (CBFs) enforce safety by rendering a prescribed safe set forward invariant. However, standard CBFs are limited to safety constraints with relative degree…
Lidar-based Tracking of Traffic Participants with Sensor Nodes in Existing Urban Infrastructure
Simon Schäfer, Bassam Alrifaee, Ehsan Hashemi
This paper presents a lidar-only state estimation and tracking framework, along with a roadside sensing unit for integration with existing urban infrastructure. Urban deployments d…
Integrated Wheel Sensor Communication using ESP32 -- A Contribution towards a Digital Twin of the Road System
Ventseslav Yordanov, Simon Schäfer, Alexander Mann +3
While current onboard state estimation methods are adequate for most driving and safety-related applications, they do not provide insights into the interaction between tires and ro…
Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysis
Yuan Gao, Mattia Piccinini, Yuchen Zhang +12
For autonomous vehicles, safe navigation in complex environments depends on handling a broad range of diverse and rare driving scenarios. Simulation- and scenario-based testing hav…