?url_ver=Z39.88-2004&rft_id=doi%3A10.1109%2FCDC.2016.7798649&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Hult%2C+Robert&rft.aulast=Hult&rft.aufirst=Robert&rft.btitle=2016+IEEE+55th+Conference+on+Decision+and+Control+(CDC)&rft.title=Primal+decomposition+of+the+optimal+coordination+of+vehicles+at+traffic+intersections&rft.isbn=978-1-5090-1837-6&rft.date=2016&rft.genre=proceeding