# A Unified Hierarchical Framework for Platoon Control of Connected Vehicles with Heterogeneous Control Modes

> Research article (2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC), 2020) · cited 10× · AI/ML

**Wikidata**: [openalex:W3114894176](https://www.wikidata.org/wiki/openalex:W3114894176)  
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