{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,24]],"date-time":"2026-02-24T19:32:38Z","timestamp":1771961558875,"version":"3.50.1"},"reference-count":71,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,8,1]],"date-time":"2023-08-01T00:00:00Z","timestamp":1690848000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"MIT Amazon Science Hub, MIT-IBM Watson AI Lab, MIT Energy Initiative (MITEI) Mobility Systems Center, MIT Mobility Initiative"},{"name":"National Science Foundation","award":["2149548"],"award-info":[{"award-number":["2149548"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2023,8]]},"DOI":"10.1109\/tro.2023.3262120","type":"journal-article","created":{"date-parts":[[2023,4,12]],"date-time":"2023-04-12T17:37:05Z","timestamp":1681321025000},"page":"2751-2769","source":"Crossref","is-referenced-by-count":10,"title":["Cooperation for Scalable Supervision of Autonomy in Mixed Traffic"],"prefix":"10.1109","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4263-2204","authenticated-orcid":false,"given":"Cameron","family":"Hickert","sequence":"first","affiliation":[{"name":"Institute for Data, Systems, and Society, Massachusetts Institute of Technology, Cambridge, MA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1321-8263","authenticated-orcid":false,"given":"Sirui","family":"Li","sequence":"additional","affiliation":[{"name":"Institute for Data, Systems, and Society, Massachusetts Institute of Technology, Cambridge, MA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8594-303X","authenticated-orcid":false,"given":"Cathy","family":"Wu","sequence":"additional","affiliation":[{"name":"Institute for Data, Systems, and Society, Massachusetts Institute of Technology, Cambridge, MA, USA"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.3141\/2058-20"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.3141\/1883-05"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3087314"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-32460-4"},{"key":"ref15","first-page":"1422","article-title":"On the impact of cooperative autonomous vehicles in improving freeway merging: A modified intelligent driver model-based approach","volume":"18","author":"zhou","year":"2017","journal-title":"IEEE Trans Intell Transp Syst"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1061\/(ASCE)0733-947X(1995)121:4(317)"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/25.901899"},{"key":"ref58","article-title":"A taxonomy and review of algorithms for modeling and predicting human driver behavior","author":"brown","year":"2020"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2016.7451738"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920950795"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1016\/B978-0-08-057090-7.50025-4"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.62.1805"},{"key":"ref10","article-title":"Administration highway statistics 2019: Licensed drivers, U.S.","year":"2021"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1088\/1367-2630\/10\/3\/033001"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3007647"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2587582"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2019.2942050"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2600504"},{"key":"ref51","article-title":"Multi-adversarial safety analysis for autonomous vehicles","author":"bahati","year":"2020","journal-title":"RSS Workshop Robust Autonomy"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2017.8263977"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2600504"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-018-0768-4"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-46430-1_19"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-071420-081941"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0232837"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1145\/985692.985722"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196792"},{"key":"ref43","article-title":"Beyond safety drivers: Staffing a teleoperations system for autonomous vehicles","author":"daw","year":"2019"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.014"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/THMS.2013.2293535"},{"key":"ref7","first-page":"2067","article-title":"Trial without error: Towards safe reinforcement learning via human intervention","author":"saunders","year":"0","journal-title":"Proc 17th Int Conf Auton Agents and Multiagent Syst"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1063\/1.5012394"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2019.2949915"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2600300"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2012.2225104"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2017.2700869"},{"key":"ref40","first-page":"4","article-title":"Metrics for evaluating human-robot interactions","author":"olsen","year":"0","journal-title":"Proc PERMIS"},{"key":"ref35","author":"cummings","year":"2007","journal-title":"Automation architecture for single operator multiple uav command and control"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TCNS.2022.3153872"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1177\/1071181312561096"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-72696-8_2"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3144867"},{"key":"ref30","article-title":"Reinforcement learning with probabilistic guarantees for autonomous driving","author":"bouton","year":"2019"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1007\/s43154-021-00048-3"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793698"},{"key":"ref2","article-title":"Self-driving cars hit a speedbump; Interest in autonomous vehicle technology slows down","year":"2018"},{"key":"ref1","author":"wu","year":"2018","journal-title":"Learning and Optimization for Mixed Autonomy Systems-A Mobility Context"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.3390\/s150305402"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/SMC.2019.8913876"},{"key":"ref71","article-title":"2015 status of the nation's highways, bridges, and transit conditions & performance","year":"2017","journal-title":"Report to Congress"},{"key":"ref70","article-title":"Average annual PMT, VMT person trips and trip length by trip purpose","year":"2018"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1016\/S0925-7535(00)00047-3"},{"key":"ref68","first-page":"69","article-title":"Capacities and characteristics of ramp-freeway connections","volume":"3","author":"hess","year":"1963","journal-title":"Highw Res Rec"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1986.1087506"},{"key":"ref67","article-title":"Safety assessment of interchange spacing on urban freeways","author":"pilko","year":"2007"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-020-2939-8"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1088\/1757-899X\/929\/1\/012008"},{"key":"ref69","article-title":"Summary of travel trends: 2017 national household travel survey","author":"mcguckin","year":"2018"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1177\/0361198119847475"},{"key":"ref64","doi-asserted-by":"crossref","DOI":"10.1002\/9781118625651","author":"gross","year":"2008","journal-title":"Fundamentals of Queueing Theory"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/TCNS.2018.2800403"},{"key":"ref22","first-page":"368","article-title":"Fleet-DAgger: Interactive robot fleet learning with scalable human supervision","author":"hoque","year":"0","journal-title":"Proc 6th Conf Robot Learn"},{"key":"ref66","author":"grimmett","year":"2020","journal-title":"Probability and Random Processes"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.aap.2007.05.004"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2604240"},{"key":"ref28","doi-asserted-by":"crossref","first-page":"354","DOI":"10.1038\/nature24270","article-title":"Mastering the game of go without human knowledge","volume":"550","author":"silver","year":"2017","journal-title":"Nature"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/S0262-4079(20)31477-9"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-57628-8_14"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1088\/1757-899X\/981\/2\/022080"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1049\/iet-its.2019.0488"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2006.1706779"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/8860\/10214173\/10101675-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/10214173\/10101675.pdf?arnumber=10101675","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,8,28]],"date-time":"2023-08-28T18:15:51Z","timestamp":1693246551000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10101675\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8]]},"references-count":71,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tro.2023.3262120","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,8]]}}}