@article{optimalpathplanningforconnectedand1,
  title = {Optimal Trajectory Planning for Connected and Automated Vehicles in Lane-free Traffic with Vehicle Nudging},
  author = {Venkata Karteek Yanumula and Panagiotis Typaldos and Dimitrios Troullinos and Milad Malekzadeh and Ioannis Papamichail and Markos Papageorgiou},
  year = {2022},
  eprint = {2207.09670},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2207.09670v3},
}