@article{trajectoriesandplatoonformingalgorithm,
  title = {Trajectories and Platoon-forming Algorithm for Intersections with Heterogeneous Autonomous Traffic},
  author = {P. C. Joshi and M. A. A. Boon and S. C. Borst},
  year = {2023},
  eprint = {2311.07435},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2311.07435v4},
}