@article {GershensonRosenblueth:2010,
	title = {Adaptive self-organization vs. static optimization: A qualitative comparison in traffic light coordination},
	journal = {Kybernetes},
	volume = {41},
	number = {3},
	year = {2012},
	pages = {386-403},
	abstract = {Using a recently proposed model of city traffic based on elementary cellular automata, we compare qualitatively two methods for coordinating traffic lights: a \emph{green-wave} method that tries to optimize phases according to expected flows and a \emph{self-organizing} method that adapts to the current traffic conditions. The \emph{self-organizing} method delivers considerable improvements over the \emph{green-wave} method. Seven dynamical regimes and six phase transitions are identified and analyzed for the \emph{self-organizing} method. For low densities, the \emph{self-organizing} method promotes the formation and coordination of platoons that flow freely in four directions, i.e.\ with a maximum velocity and no stops. For medium densities, the method allows a constant usage of the intersections, exploiting their maximum flux capacity. For high densities, the method prevents gridlocks and promotes the formation and coordination of {\textquoteleft}{\textquoteleft}free-spaces" that flow in the opposite direction of traffic.},
	doi = {10.1108/03684921211229479},
	url = {http://dx.doi.org/10.1108/03684921211229479},
	author = {Carlos Gershenson and David A. Rosenblueth}
}
