@article{
WanNin:15-023,
author={Y. Wang and B. Ning and T. Tang and T.J.J. van den Boom and B. {D}e
Schutter},
title={Efficient real-time train scheduling for urban rail transit systems using
iterative convex programming},
journal={IEEE Transactions on Intelligent Transportation Systems},
volume={16},
number={6},
pages={3337--3352},
month=dec,
year={2015},
doi={
10.1109/TITS.2015.2445920}
}