# Decentralized Time and Energy-Optimal Control of Connected and Automated Vehicles in a Roundabout With Safety and Comfort Guarantees

> Research article (IEEE Transactions on Intelligent Transportation Systems, 2022) · cited 23× · AI/ML

**Wikidata**: [openalex:W4312468799](https://www.wikidata.org/wiki/openalex:W4312468799)  
**Source**: https://4ort.xyz/entity/decentralized-time-and-energy-optimal-control-of-connected-and-automated-vehicles-in-a-roundabout-with-safety-and-comfor