@article{safeandefficientcavlanechangingusing,
  title = {Safe and Efficient CAV Lane Changing using Decentralised Safety Shields},
  author = {Bharathkumar Hegde and Melanie Bouroche},
  year = {2025},
  eprint = {2505.01453},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2505.01453v1},
}