@article{dsafempcdiffusiondrivensafemodelpredicti,
  title = {D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions},
  author = {Erdi Sayar and Ersin Daş and Joel W. Burdick and Alois Knoll and Erdal Kayacan},
  year = {2026},
  eprint = {2607.10842},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2607.10842},
}