@article{optimalcontrolofconnectedautomated2,
  title = {Optimal Control of Connected Automated Vehicles with Event/Self-Triggered Control Barrier Functions},
  author = {Ehsan Sabouni and Christos G. Cassandras and Wei Xiao and Nader Meskin},
  year = {2022},
  eprint = {2209.13053},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2209.13053v1},
}