Decentralized Optimal Control for Connected Automated Vehicles at Intersections Including Left and Right Turns
[C239]Zhang, Y., Malikopoulos A.A., and Cassandras, C.G.,
Decentralized Optimal Control for Connected Automated Vehicles at Intersections Including Left and Right Turns
Proc. of 56th IEEE Conference on Decision and Control, pp. 4428-4433, 2017.