This research was supported by the T-SET University Transportation Center sponsored by the US Department of Transportation under Grant No. DTRT12-G-UTC11 and Mobility21, A National University Transportation Center for Improving Mobility of People and Goods, grant 69A3551747111. It was also supported by the National Science Foundation under award number CNS-1446601. We are grateful to the organizations for their support: Hillman foundation, Buhl foundation, and Pennsylvania Department of Transportation(PennDOT). Several students have contributed as part of independent studies.

This research was accomplished with guidance and inputs from a number of people.
Many thanks to:

Lamwing Chan
Joe Doyle
Sobhagya Jose
John Kozar
Joel Loo
Christoph Mertz
Bernardo F R Esteves Pires
Nikitha Shravan Poddatur
Nandini Ramakrishnan
Karan Sharma
Srivatsan Varadharajan
Lars Wander
Jinhang Wang