@article{xie2012-tr,
	author = {Xiao-Feng Xie and Stephen F. Smith and Liang Lu and Gregory J. Barlow},
	title = {Schedule-driven intersection control},
	journal = {Transportation Research Part C: Emerging Technologies},
	year = {2012},
	volume = {24},
	pages = {168--189}
	url = {http://www.cs.cmu.edu/~gjb/includes/publications/journal/xie2012-tr.pdf}
}