S. G. de S. Cervantes, J. C. Piai, E. F. F. Ramírez, L. Varasquim, and E. Nagayama, “ATEFI - A descentralized fix time algorithm for signal control”., Semin., Exact Tech. Scienc., vol. 30, no. 1, pp. 41–50, Jul. 2009.