@article{hierarchicalspeedplannerforautomated,
  title = {Hierarchical Speed Planner for Automated Vehicles: A Framework for Lagrangian Variable Speed Limit in Mixed Autonomy Traffic},
  author = {Han Wang and Zhe Fu and Jonathan Lee and Hossein Nick Zinat Matin and Arwa Alanqary and Daniel Urieli and Sharon Hornstein and Abdul Rahman Kreidieh and Raphael Chekroun and William Barbour and William A. Richardson and Dan Work and Benedetto Piccoli and Benjamin Seibold and Jonathan Sprinkle and Alexandre M. Bayen and Maria Laura Delle Monache},
  year = {2024},
  eprint = {2402.16993},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2402.16993v1},
}