# A safety-prioritized receding horizon control framework for platoon formation in a mixed traffic environment

> Research article (Automatica, 2023) · cited 16× · AI/ML

**Wikidata**: [openalex:W4380201866](https://www.wikidata.org/wiki/openalex:W4380201866)  
**Source**: https://4ort.xyz/entity/a-safety-prioritized-receding-horizon-control-framework-for-platoon-formation-in-a-mixed-traffic-environment