@misc{zhen2022driving,
  title={Eco-driving Trajectory Planning of a Heterogeneous Platoon in Urban Environments},
  author={Hao Zhen and Sahand Mosharafian and Jidong J. Yang and Javad Mohammadpour Velni},
  year={2022},
  eprint={2205.09618},
  archivePrefix={arXiv},
  primaryClass={eess.SY},
  doi={10.1016/j.ifacol.2022.10.278},
  url={https://arxiv.org/abs/2205.09618}
}