@article{acomputationallyefficientbilevel,
  title = {A Computationally Efficient Bi-level Coordination Framework for CAVs at Unsignalized Intersections},
  author = {Jiping Luo and Tingting Zhang and Qinyu Zhang},
  year = {2023},
  eprint = {2309.05959},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2309.05959v2},
}