@article{fairandsafearealtimehierarchicalcontrolf,
  title = {Fair and Safe: A Real-Time Hierarchical Control Framework for Intersections},
  author = {Lei Shi and Yongju Kim and Xinzhi Zhong and Wissam Kontar and Qichao Liu and Soyoung Ahn},
  year = {2025},
  eprint = {2511.05886},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2511.05886},
}