Qing Xu 0010 Mengchi Cai Keqiang Li 0002 Biao Xu Jianqiang Wang 0003 Xiangbin Wu Coordinated Formation Control for Intelligent and Connected Vehicles in Multiple Traffic Scenarios. 2020 abs/2010.15531 CoRR https://arxiv.org/abs/2010.15531 db/journals/corr/corr2010.html#abs-2010-15531