Hu, Hsu-Chieh, and Stephen F. Smith. “Using Bi-Directional Information Exchange to Improve Decentralized Schedule-Driven Traffic Control”. Proceedings of the International Conference on Automated Planning and Scheduling 29, no. 1 (May 25, 2021): 200-208. Accessed March 28, 2024. https://ojs.aaai.org/index.php/ICAPS/article/view/3477.