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We extend earlier work establishing a framework for optimally controllingConnected Automated Vehicles (CAVs) crossing a signal free intersection byjointly optimizing energy and travel time. We derive explicit optimal controlsolutions in a decentralized manner that guarantee both a speed-dependentrear-end safety constraint and a time-dependent lateral collision constraint,in addition to lower/upper bounds on speed and acceleration. Extensivesimulation examples are included to illustrate this framework.

Joint Time and Energy-Optimal Control of Connected Automated Vehicles at Signal-Free Intersections with Speed-Dependent Safety Guarantees