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

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[A205]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, Vol. 23, 10, pp. 17382-17396, 2022.