A General Framework for Decentralized Safe Optimal Control of Connected and Automated Vehicles in Multi-Lane Intersections

[A203]Xu, H., Xiao, W., Cassandras, C.G., Zhang, Yi., and Li, L.,
A General Framework for Decentralized Safe Optimal Control of Connected and Automated Vehicles in Multi-Lane Intersections IEEE Trans. on Intelligent Transportation Systems, To appear, 2022.