@book{WanNin:16-009,
author={Y. Wang and B. Ning and T. van den Boom and B. {D}e Schutter},
title={Optimal Trajectory Planning and Train Scheduling for Urban Rail Transit
Systems},
series={Advances in Industrial Control},
publisher={Springer},
address={Switzerland},
year={2016},
doi={
10.1007/978-3-319-30889-0}
}