@ARTICLE{Campos2017, 

author={G. Rodrigues de Campos and P. Falcone and R. Hult and H. Wymeersch and J. Sjöberg}, 

journal={IEEE Intelligent Transportation Systems Magazine}, 

title={Traffic Coordination at Road Intersections: Autonomous Decision-Making Algorithms Using Model-Based Heuristics}, 

year={2017}, 

volume={9}, 

number={1}, 

pages={8-21}, 

}