Du, Wenlu, Junyi Ye, Jingyi Gu, Jing Li, Hua Wei, and Guiling Wang. 2023. “SafeLight: A Reinforcement Learning Method Toward Collision-Free Traffic Signal Control”. Proceedings of the AAAI Conference on Artificial Intelligence 37 (12):14801-10. https://doi.org/10.1609/aaai.v37i12.26729.