Educational Applications of the Cyber-Physical Mobility Lab: A Summary. - Simon Schäfer; Jianye Xu; David Klüner; Armin Mokhtarian; Patrick Scheffe; Bassam Alrifaee (ECC, 2024)

Limiting Computation Levels in Prioritized Trajectory Planning with Safety Guarantees. - Patrick Scheffe; Jianye Xu; Bassam Alrifaee (ECC, 2024)

SigmaRL: A Sample-Efficient and Generalizable Multi-Agent Reinforcement Learning Framework for Motion Planning. - Jianye Xu; Pan Hu; Bassam Alrifaee (ITSC, 2024)

A Survey on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms. - Armin Mokhtarian; Jianye Xu; Patrick Scheffe; Maximilian Kloock; Simon Schäfer; Heeseung Bang; Viet-Anh Le; Sangeet Sankaramangalam Ulhas; Johannes Betz; Sean Wilson; Spring Berman; Liam Paull; et al. (CoRR, 2024)

XP-MARL: Auxiliary Prioritization in Multi-Agent Reinforcement Learning to Address Non-Stationarity. - Jianye Xu; Omar Sobhy; Bassam Alrifaee (CoRR, 2024)

Learning-Based Control Barrier Function with Provably Safe Guarantees: Reducing Conservatism with Heading-Aware Safety Margin. - Jianye Xu; Bassam Alrifaee (CoRR, 2024)

Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap. - Jianye Xu; Bassam Alrifaee; Johannes Betz; Armin Mokhtarian; Archak Mittal; Mengchi Cai; Rahul Mangharam; Omar M. Shehata; Catherine M. Elias; Jan-Nico Zaech; Patrick Scheffe; Felix Jahncke; et al. (CoRR, 2025)

High-Order Control Barrier Functions: Insights and a Truncated Taylor-Based Formulation. - Jianye Xu; Bassam Alrifaee (CoRR, 2025)

A Real-Time Control Barrier Function-Based Safety Filter for Motion Planning with Arbitrary Road Boundary Constraints. - Jianye Xu; Chang Che; Bassam Alrifaee (CoRR, 2025)

Simulation to Reality: Testbeds and Architectures for Connected and Automated Vehicles. - David Klüner; Simon Schäfer; Lucas Hegerath; Jianye Xu; Julius Kahle; Hazem Ibrahim; Alexandru Kampmann; Bassam Alrifaee (CoRR, 2025)