{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T06:23:57Z","timestamp":1772778237399,"version":"3.50.1"},"reference-count":45,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2024,5,15]],"date-time":"2024-05-15T00:00:00Z","timestamp":1715731200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2024,5,15]],"date-time":"2024-05-15T00:00:00Z","timestamp":1715731200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100006690","name":"Politecnico di Milano","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100006690","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper presents Multiple Traffic Light Advisor (MTLA), a novel Green Light Optimal Speed Advisory (GLOSA) system that leverages 5G communication technology. GLOSA systems are emerging as a key component in intelligent transportation systems, thanks to the development of effective communication technologies. At its core, MTLA serves as a guidance system for drivers, providing real-time instructions to adjust vehicle speed to optimize the utilization of current and future states of traffic lights along their route.The work addresses several limitations in the current state-of-the-art approaches, including the use of an overly simplified velocity profile, the omission of potential grip and jerk in problem formulation, and the absence of a detailed description of the algorithm\u2019s implementation aspects. Initially, we comprehensively present an optimization-free implementation of the overall control architecture based on an unconventional speed profile. Subsequently, MTLA is improved within a non-linear Model Predictive Control (MPC) framework which uses the latter nonoptimal solution as an initial guess and considers potential grip and jerk in the problem formulation. The developed systems are numerically tested and compared within a high-fidelity simulation environment using the IPG CarMaker simulator. The results demonstrate promising performance in terms of energy savings, with a significant reduction of 37% in energy usage, as well as improved overall comfort with respect to the case where no guidance is given to the driver. These findings suggest a high potential for future developments in this domain.<\/jats:p>","DOI":"10.1007\/s10846-024-02110-6","type":"journal-article","created":{"date-parts":[[2024,5,15]],"date-time":"2024-05-15T11:02:03Z","timestamp":1715770923000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Enhanced Traffic Light Guidance for Safe and Energy-Efficient Driving: A Study on Multiple Traffic Light Advisor (MTLA) and 5G Integration"],"prefix":"10.1007","volume":"110","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1718-4198","authenticated-orcid":false,"given":"Michael","family":"Khayyat","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alberto","family":"Gabriele","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Francesca","family":"Mancini","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stefano","family":"Arrigoni","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Francesco","family":"Braghin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,5,15]]},"reference":[{"key":"2110_CR1","doi-asserted-by":"crossref","unstructured":"Kloeppel, M., Grimm, J., Strobl, S., Auerswald, R.: Performance evaluation of glosa-algorithms under realistic traffic conditions using c2i-communication. In: Data Analytics: Paving the Way to Sustainable Urban Mobility: Proceedings of 4th Conference on Sustainable Urban Mobility (CSUM2018), 24-25 May, Skiathos Island, Greece, pp. 44\u201352. Springer (2019)","DOI":"10.1007\/978-3-030-02305-8_6"},{"key":"2110_CR2","doi-asserted-by":"publisher","unstructured":"De\u00a0Nunzio, G., Canudas\u00a0de Wit, C., Moulin, P., Di\u00a0Domenico, D.: Eco-driving in urban traffic networks using traffic signal information. In: 52nd IEEE Conference on Decision and Control, pp. 892\u2013898 (2013). https:\/\/doi.org\/10.1109\/CDC.2013.6759995","DOI":"10.1109\/CDC.2013.6759995"},{"key":"2110_CR3","doi-asserted-by":"publisher","unstructured":"Seredynski, M., Mazurczyk, W., Khadraoui, D.: Multi-segment green light optimal speed advisory. In: 2013 IEEE International Symposium on Parallel & Distributed Processing, Workshops and Phd Forum, pp. 459\u2013465 (2013). https:\/\/doi.org\/10.1109\/IPDPSW.2013.157","DOI":"10.1109\/IPDPSW.2013.157"},{"key":"2110_CR4","doi-asserted-by":"publisher","unstructured":"Guan, T., Frey, C.W.: Predictive fuel efficiency optimization using traffic light timings and fuel consumption model. In: 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013), pp. 1553\u20131558 (2013). https:\/\/doi.org\/10.1109\/ITSC.2013.6728451","DOI":"10.1109\/ITSC.2013.6728451"},{"key":"2110_CR5","doi-asserted-by":"publisher","unstructured":"Suramardhana, T.A., Jeong, H.-Y.: A driver-centric green light optimal speed advisory (dc-glosa) for improving road traffic congestion at urban intersections. In: 2014 IEEE Asia Pacific Conference on Wireless and Mobile, pp. 304\u2013309 (2014). https:\/\/doi.org\/10.1109\/APWiMob.2014.6920310","DOI":"10.1109\/APWiMob.2014.6920310"},{"key":"2110_CR6","doi-asserted-by":"publisher","unstructured":"Seredynski, M., Dorronsoro, B., Khadraoui, D.: Comparison of green light optimal speed advisory approaches. In: 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013), pp. 2187\u20132192 (2013). https:\/\/doi.org\/10.1109\/ITSC.2013.6728552","DOI":"10.1109\/ITSC.2013.6728552"},{"key":"2110_CR7","doi-asserted-by":"publisher","DOI":"10.1016\/j.jclepro.2023.136937","volume":"404","author":"N Wei","year":"2023","unstructured":"Wei, N., Jia, Z., Zhao, X., Wu, L., Zhang, Y., Peng, J., Wang, T., Yang, Z., Zhang, Q., Mao, H.: Standard environmental evaluation framework reveals environmental benefits of green light optimized speed advisory: A case study on plug-in hybrid electric vehicles. J. Clean. Prod. 404, 136937 (2023)","journal-title":"J. Clean. Prod."},{"key":"2110_CR8","doi-asserted-by":"publisher","first-page":"138634","DOI":"10.1016\/j.jclepro.2023.138634","volume":"422","author":"X Zhao","year":"2023","unstructured":"Zhao, X., Jia, Z., Wei, N., Guo, D., Yao, L., Yin, J., Wu, L., Zhang, Y., Peng, J., Wang, T., et al.: Green light optimized speed advisory achieves fuel savings and co2 emission reduction by profoundly impacting driving behavior. J. Clean. Prod. 422, 138634 (2023)","journal-title":"J. Clean. Prod."},{"issue":"4","key":"2110_CR9","doi-asserted-by":"publisher","first-page":"04020018","DOI":"10.1061\/JTEPBS.0000318","volume":"146","author":"E Mintsis","year":"2020","unstructured":"Mintsis, E., Vlahogianni, E.I., Mitsakis, E.: Dynamic eco-driving near signalized intersections: Systematic review and future research directions. J. Transp. Eng. A: Syst. 146(4), 04020018 (2020)","journal-title":"J. Transp. Eng. A: Syst."},{"issue":"5","key":"2110_CR10","doi-asserted-by":"publisher","first-page":"488","DOI":"10.1049\/iet-its.2014.0145","volume":"9","author":"R Zhang","year":"2015","unstructured":"Zhang, R., Yao, E.: Eco-driving at signalised intersections for electric vehicles. IET Intel. Transport Syst. 9(5), 488\u2013497 (2015)","journal-title":"IET Intel. Transport Syst."},{"key":"2110_CR11","doi-asserted-by":"crossref","unstructured":"Barth, M., Mandava, S., Boriboonsomsin, K., Xia, H.: Dynamic eco-driving for arterial corridors. In: 2011 IEEE Forum on Integrated and Sustainable Transportation Systems, pp. 182\u2013188. IEEE (2011)","DOI":"10.1109\/FISTS.2011.5973594"},{"key":"2110_CR12","doi-asserted-by":"crossref","unstructured":"Cai, L.S., Ning, G.B.: Adaptive driving speed guiding to avoid red traffic lights. In: Applied Mechanics and Materials, vol. 347, pp. 3832\u20133836. Trans Tech Publ (2013)","DOI":"10.4028\/www.scientific.net\/AMM.347-350.3832"},{"key":"2110_CR13","doi-asserted-by":"crossref","unstructured":"Katsaros, K., Kernchen, R., Dianati, M., Rieck, D.: Performance study of a green light optimized speed advisory (glosa) application using an integrated cooperative its simulation platform. In: 2011 7th International Wireless Communications and Mobile Computing Conference, pp. 918\u2013923. IEEE (2011)","DOI":"10.1109\/IWCMC.2011.5982524"},{"key":"2110_CR14","doi-asserted-by":"publisher","unstructured":"Mandava, S., Boriboonsomsin, K., Barth, M.: Arterial velocity planning based on traffic signal information under light traffic conditions. In: 2009 12th International IEEE Conference on Intelligent Transportation Systems, pp. 1\u20136 (2009). https:\/\/doi.org\/10.1109\/ITSC.2009.5309519","DOI":"10.1109\/ITSC.2009.5309519"},{"key":"2110_CR15","doi-asserted-by":"crossref","unstructured":"Chen, H., Rakha, H.A.: Developing and field testing a green light optimal speed advisory system for buses. Energies 15(4) (2022)","DOI":"10.3390\/en15041491"},{"key":"2110_CR16","doi-asserted-by":"publisher","first-page":"208796","DOI":"10.1109\/ACCESS.2020.3037105","volume":"8","author":"Z Zhang","year":"2020","unstructured":"Zhang, Z., Zou, Y., Zhang, X., Zhang, T.: Green light optimal speed advisory system designed for electric vehicles considering queuing effect and driver\u2019s speed tracking error. IEEE Access 8, 208796\u2013208808 (2020)","journal-title":"IEEE Access"},{"key":"2110_CR17","unstructured":"Chaudhry, A., Haouari, R., Papazikou, E., Sha, H., Singh, M., Tympakianaki, A., Nogues, L., Quddus, M., Weijermars, W., Thomas, P., Morris, A.: Examining road safety impacts of Green Light Optimal Speed Advisory (GLOSA) system (2022)"},{"key":"2110_CR18","doi-asserted-by":"crossref","unstructured":"Seredynski, M., Dorronsoro, B., Khadraoui, D.: Comparison of green light optimal speed advisory approaches. In: 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013), pp. 2187\u20132192. IEEE (2013)","DOI":"10.1109\/ITSC.2013.6728552"},{"issue":"15","key":"2110_CR19","doi-asserted-by":"publisher","first-page":"484","DOI":"10.3182\/20090902-3-US-2007.0064","volume":"42","author":"B Asadi","year":"2009","unstructured":"Asadi, B., Vahidi, A.: Predictive use of traffic signal state for fuel saving. IFAC Proceedings Volumes 42(15), 484\u2013489 (2009)","journal-title":"IFAC Proceedings Volumes"},{"key":"2110_CR20","doi-asserted-by":"crossref","unstructured":"Typaldos, P., Papageorgiou, M.: Modified dynamic programming algorithms for glosa systems with stochastic signal switching times. arXiv preprint arXiv:2211.12159 (2022)","DOI":"10.2139\/ssrn.4291475"},{"key":"2110_CR21","unstructured":"Stebbins, S., Kim, J., Hickman, M., Vu, H.L.: Combining model predictive intersection control with green light optical speed advisory in a connected vehicle environment. In: Australasian Transport Research Forum 2016 (2016)"},{"issue":"3","key":"2110_CR22","doi-asserted-by":"publisher","first-page":"707","DOI":"10.1109\/TCST.2010.2047860","volume":"19","author":"B Asadi","year":"2010","unstructured":"Asadi, B., Vahidi, A.: Predictive cruise control: Utilizing upcoming traffic signal information for improving fuel economy and reducing trip time. IEEE Trans. Control Syst. Technol. 19(3), 707\u2013714 (2010)","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"2110_CR23","unstructured":"Lebre, M.-A., Mou\u00ebl, F.L., M\u00e9nard, E., Garnault, A., Brada\u00ef, B., Picron, V.: Real scenario and simulations on glosa traffic light system for reduced co2 emissions, waiting time and travel time. arXiv preprint arXiv:1506.01965 (2015)"},{"key":"2110_CR24","doi-asserted-by":"crossref","unstructured":"Suzuki, H., Marumo, Y.: Green light optimum speed advisory (glosa) system with signal timing variations-traffic simulator study. In: Human Systems Engineering and Design II: Proceedings of the 2nd International Conference on Human Systems Engineering and Design (IHSED2019): Future Trends and Applications, September 16-18, 2019, Universit\u00e4t der Bundeswehr M\u00fcnchen, Munich, Germany, pp. 584\u2013590. Springer (2020)","DOI":"10.1007\/978-3-030-27928-8_89"},{"key":"2110_CR25","doi-asserted-by":"publisher","DOI":"10.4271\/2020-01-1379","volume-title":"Hardware-in-the-loop and road testing of rlvw and glosa connected vehicle applications","author":"SY Gelbal","year":"2020","unstructured":"Gelbal, S.Y., Cantas, M.R., Guvenc, B.A., Guvenc, L., Surnilla, G., Zhang, H., Shulman, M., Katriniok, A., Parikh, J.: Hardware-in-the-loop and road testing of rlvw and glosa connected vehicle applications. Technical report, SAE Technical Paper (2020)"},{"key":"2110_CR26","doi-asserted-by":"publisher","DOI":"10.4271\/2020-01-0376","volume-title":"Rde plus-a road to rig development methodology for whole vehicle rde compliance: Engine-in-the-loop and virtual tools","author":"P Roberts","year":"2020","unstructured":"Roberts, P., Mason, A., Tabata, K., Whelan, S.: Rde plus-a road to rig development methodology for whole vehicle rde compliance: Engine-in-the-loop and virtual tools. Technical report, SAE Technical Paper (2020)"},{"key":"2110_CR27","doi-asserted-by":"publisher","DOI":"10.4271\/2022-01-0580","volume-title":"Rde plus-rapid characterisation of vehicle and powertrain performance and emissions using dynamic design of experiments, digital twin and virtual driving methodologies","author":"P Roberts","year":"2022","unstructured":"Roberts, P., Bates, L., Tabata, K., Headley, A., Whelan, S.: Rde plus-rapid characterisation of vehicle and powertrain performance and emissions using dynamic design of experiments, digital twin and virtual driving methodologies. Technical report, SAE Technical Paper (2022)"},{"key":"2110_CR28","doi-asserted-by":"crossref","unstructured":"Petters, J.: Rde-optimierung mittels abbildung verschiedener fahrercharakteristiken. In: Simulation und Test 2018: Antriebsentwicklung Im Digitalen Zeitalter 20. MTZ-Fachtagung, pp. 93\u2013105. Springer (2019)","DOI":"10.1007\/978-3-658-25294-6_6"},{"key":"2110_CR29","first-page":"1","volume":"8","author":"W Zulehner","year":"2019","unstructured":"Zulehner, W.: Ipg rdx test generator. Documentation Version 8, 1 (2019)","journal-title":"Ipg rdx test generator. Documentation Version"},{"key":"2110_CR30","doi-asserted-by":"crossref","unstructured":"Kural, E., Jones, S., Parrilla, A.F., Grauers, A.: Traffic light assistant system for optimized energy consumption in an electric vehicle. In: 2014 International Conference on Connected Vehicles and Expo (ICCVE), pp. 604\u2013611. IEEE (2014)","DOI":"10.1109\/ICCVE.2014.7297619"},{"key":"2110_CR31","doi-asserted-by":"publisher","first-page":"102967","DOI":"10.1016\/j.trc.2021.102967","volume":"126","author":"M Wegener","year":"2021","unstructured":"Wegener, M., Koch, L., Eisenbarth, M., Andert, J.: Automated eco-driving in urban scenarios using deep reinforcement learning. Transp. Res. Part C Emerg. Technologies 126, 102967 (2021)","journal-title":"Transp. Res. Part C Emerg. Technologies"},{"issue":"8","key":"2110_CR32","doi-asserted-by":"publisher","first-page":"119","DOI":"10.1177\/0361198120931848","volume":"2674","author":"SR Mousa","year":"2020","unstructured":"Mousa, S.R., Ishak, S., Mousa, R.M., Codjoe, J., Elhenawy, M.: Deep reinforcement learning agent with varying actions strategy for solving the eco-approach and departure problem at signalized intersections. Transp. Res. Rec. 2674(8), 119\u2013131 (2020). https:\/\/doi.org\/10.1177\/0361198120931848","journal-title":"Transp. Res. Rec."},{"key":"2110_CR33","doi-asserted-by":"publisher","unstructured":"Chen, J., Wang, Z., Tomizuka, M.: Deep hierarchical reinforcement learning for autonomous driving with distinct behaviors. In: 2018 IEEE Intelligent Vehicles Symposium (IV), pp. 1239\u20131244 (2018). https:\/\/doi.org\/10.1109\/IVS.2018.8500368","DOI":"10.1109\/IVS.2018.8500368"},{"key":"2110_CR34","doi-asserted-by":"publisher","unstructured":"Ding, L., Zhao, D., Zhu, B., Wang, Z., Tan, C., Tong, J., Ma, H.: Speedadv: Enabling green light optimized speed advisory for diverse traffic lights. IEEE Trans. Mob. Comput., 1\u201314 (2023). https:\/\/doi.org\/10.1109\/TMC.2023.3319697","DOI":"10.1109\/TMC.2023.3319697"},{"key":"2110_CR35","doi-asserted-by":"crossref","unstructured":"Zhao, Y., Li, S., Hu, S., Su, L., Yao, S., Shao, H., Wang, H., Abdelzaher, T.: Greendrive: A smartphone-based intelligent speed adaptation system with real-time traffic signal prediction. In: 2017 ACM\/IEEE 8th International Conference on Cyber-Physical Systems (ICCPS), pp. 229\u2013238 (2017)","DOI":"10.1145\/3055004.3055009"},{"issue":"2","key":"2110_CR36","doi-asserted-by":"publisher","first-page":"27","DOI":"10.3390\/fi11020027","volume":"11","author":"F Arena","year":"2019","unstructured":"Arena, F., Pau, G.: An overview of vehicular communications. Future Internet 11(2), 27 (2019)","journal-title":"Future Internet"},{"issue":"12","key":"2110_CR37","doi-asserted-by":"publisher","first-page":"4059","DOI":"10.1080\/00423114.2021.1998558","volume":"60","author":"M Khayyat","year":"2022","unstructured":"Khayyat, M., Arrigoni, S., Cheli, F.: Development and simulation-based testing of a 5g-connected intersection aeb system. Veh. Syst. Dyn. 60(12), 4059\u20134078 (2022). https:\/\/doi.org\/10.1080\/00423114.2021.1998558","journal-title":"Veh. Syst. Dyn."},{"key":"2110_CR38","unstructured":"Territorio, A.M.A.: Centrale di controllo del traffico (2020). https:\/\/www.amat-mi.it\/it\/servizi\/centrale-controllo-traffico\/. Accessed 19 March 2022"},{"issue":"9","key":"2110_CR39","doi-asserted-by":"publisher","first-page":"943","DOI":"10.3390\/electronics8090943","volume":"8","author":"I Bae","year":"2019","unstructured":"Bae, I., Moon, J., Seo, J.: Toward a comfortable driving experience for a self-driving shuttle bus. Electronics 8(9), 943 (2019)","journal-title":"Electronics"},{"key":"2110_CR40","unstructured":"Ariens, D., Houska, B., Ferreau, H.J.: ACADO for Matlab User\u2019s Manual. http:\/\/www.acadotoolkit.org (2010\u20132011)"},{"issue":"10","key":"2110_CR41","doi-asserted-by":"publisher","first-page":"2279","DOI":"10.1016\/j.automatica.2011.08.020","volume":"47","author":"B Houska","year":"2011","unstructured":"Houska, B., Ferreau, H.J., Diehl, M.: An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range. Automatica 47(10), 2279\u20132285 (2011). https:\/\/doi.org\/10.1016\/j.automatica.2011.08.020","journal-title":"Automatica"},{"key":"2110_CR42","doi-asserted-by":"publisher","unstructured":"Xia, H., Boriboonsomsin, K., Schweizer, F., Winckler, A., Zhou, K., Zhang, W.-B., Barth, M.: Field operational testing of eco-approach technology at a fixed-time signalized intersection. In: 2012 15th International IEEE Conference on Intelligent Transportation Systems, pp. 188\u2013193 (2012). https:\/\/doi.org\/10.1109\/ITSC.2012.6338888","DOI":"10.1109\/ITSC.2012.6338888"},{"issue":"3","key":"2110_CR43","doi-asserted-by":"publisher","first-page":"249","DOI":"10.1016\/j.ifacol.2016.07.042","volume":"49","author":"H Chen","year":"2016","unstructured":"Chen, H., Rakha, H.A., Loulizi, A., El-Shawarby, I., Almannaa, M.H.: Development and preliminary field testing of an in-vehicle eco-speed control system in the vicinity of signalized intersections. IFAC-PapersOnLine 49(3), 249\u2013254 (2016)","journal-title":"IFAC-PapersOnLine"},{"issue":"23","key":"2110_CR44","doi-asserted-by":"publisher","first-page":"5184","DOI":"10.1021\/es0114308","volume":"36","author":"HC Frey","year":"2002","unstructured":"Frey, H.C., Zheng, J.: Probabilistic analysis of driving cycle-based highway vehicle emission factors. Environ. Sci. Technol. 36(23), 5184\u20135191 (2002)","journal-title":"Environ. Sci. Technol."},{"key":"2110_CR45","doi-asserted-by":"crossref","unstructured":"Zhou, Z., Yang, Z., Zhang, Y., Huang, Y., Chen, H., Yu, Z.: A comprehensive study of speed prediction in transportation system: From vehicle to traffic. Iscience (2022)","DOI":"10.1016\/j.isci.2022.103909"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-024-02110-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-024-02110-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-024-02110-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,7,18]],"date-time":"2024-07-18T10:15:30Z","timestamp":1721297730000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-024-02110-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,5,15]]},"references-count":45,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2024,6]]}},"alternative-id":["2110"],"URL":"https:\/\/doi.org\/10.1007\/s10846-024-02110-6","relation":{},"ISSN":["1573-0409"],"issn-type":[{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,5,15]]},"assertion":[{"value":"2 February 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"30 April 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"15 May 2024","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Not applicable.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}},{"value":"The authors have no relevant financial or non-financial interests to disclose.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing Interests"}}],"article-number":"73"}}