# A General Framework for Decentralized Safe Optimal Control of Connected and Automated Vehicles in Multi-Lane Signal-Free Intersections

> Research article (IEEE Transactions on Intelligent Transportation Systems, 2022) · cited 39× · AI/ML

**Wikidata**: [openalex:W4213427190](https://www.wikidata.org/wiki/openalex:W4213427190)  
**Source**: https://4ort.xyz/entity/a-general-framework-for-decentralized-safe-optimal-control-of-connected-and-automated-vehicles-in-multi-lane-signal-free