@article{causalitybasedparametriccontrolbarrierfu,
  title = {Causality-Based Parametric Control Barrier Function for Safe Multi-Vehicle Interaction},
  author = {Yiwei Lyu and Caleb Chang and John M. Dolan},
  year = {2026},
  eprint = {2606.25134},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.25134},
}