# A decentralized energy-optimal control framework for connected automated vehicles at signal-free intersections

> Research article (Automatica, 2018) · cited 392× · AI/ML

**Wikidata**: [openalex:W2613420336](https://www.wikidata.org/wiki/openalex:W2613420336)  
**Source**: https://4ort.xyz/entity/a-decentralized-energy-optimal-control-framework-for-connected-automated-vehicles-at-signal-free-intersections