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Abstract: This paper describes a distributed algorithm for coordinating the flow of a mass of vehicles approaching a highway exit or a tollbooth. We provide the problem formulation, a general methodology for distributed control and an instantiation of this methodology to the coordinated flow problem. We analyze our algorithm and provide experimental data.

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   Valentino Crespi, George Cybenko, Massimo Santini, and Daniela Rus, "Decentralized Control for Coordinated flow of Multi-Agent Systems." Dartmouth Computer Science Technical Report TR2002-414, January 2002.

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