@article{scalinguptheoptimalsafecontrolof,
  title = {Scaling up the Optimal Safe Control of Connected and Automated Vehicles to a Traffic Network: A Hierarchical Framework of Modular Control Zones},
  author = {Kaiyuan Xu and Christos G. Cassandras},
  year = {2023},
  eprint = {2308.03182},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2308.03182v1},
}