Experimental validation of a semi-distributed sequential quadratic programming method for optimal coordination of automated vehicles at intersections - Hult, Robert; Zanon, Mario; Frison, G.; Gros, Sebastien; Falcone, Paolo (Kooperativa körning vid trafikkorsningar Distribuerad koordinering av mobila nätverks system i okända miljöer COPPLAR CampusShuttle cooperative perception & planning platform Optimal Control Applications and Methods, 2020)