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@article{WuLi:20-014,
   author={Wu, Na and Li, Dewei and Xi, Yugeng and De Schutter, Bart},
   title={Distributed Event-Triggered Model Predictive Control for Urban
          Traffic Lights},
   journal={IEEE Transactions on Intelligent Transportation Systems},
   volume={22},
   number={8},
   pages={4975--4985},
   month=aug,
   year={2021}
   }