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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

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Shu-Xia Tang

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Open access 2026

Dual-Layer Safety Projection for Model Predictive Path Integral Control Using Control Barrier Functions in Autonomous Driving

In this study, we present a safety-critical control framework for autonomous vehicles (AVs) that integrates model predictive path integral (MPPI) control with control barrier functions (CBFs). The framework ensures trajectory tracking along planned paths while maintaining safety and control constraints by combining sam...

Natnael M. Negash, Yan-Wen Yang, Shu-Xia Tang et al. · 0 citations

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