@inproceedings{eprints4010,
       publisher = {IEEE},
       booktitle = {2016 IEEE 55th Conference on Decision and Control (CDC)},
           pages = {2567--2573},
           title = {Primal decomposition of the optimal coordination of vehicles at traffic intersections},
            year = {2016},
          author = {Robert Hult and Mario Zanon and Sebastien Gros and Paolo Falcone},
             url = {http://eprints.imtlucca.it/4010/}
}