@TechReport{Dartmouth:TR2002-414,
  author = {Valentino Crespi and George Cybenko and Massimo Santini and Daniela Rus},
  title = {{Decentralized Control for Coordinated flow of Multi-Agent Systems}},
  institution = {Dartmouth College, Computer Science},
  address = {Hanover, NH},
  number = {TR2002-414},
  year = {2002},
  month = {January},
  URL = {http://www.cs.dartmouth.edu/reports/TR2002-414.ps.Z},
  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.
  }
}