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We refer to such systems as autonomous mobility-on-demand (AMoD) systems. We first cast an AMoD system into a closed, multi-class Baskett\u2013Chandy\u2013Muntz\u2013Palacios (BCMP) queuing network model capable of capturing the passenger arrival process, traffic, the state-of-charge of electric vehicles, and the availability of vehicles at the stations. Second, we propose a scalable method for the synthesis of routing and charging policies, with performance guarantees in the limit of large fleet sizes. Third, we explore the applicability of our theoretical results on a case study of Manhattan. Collectively, this paper provides a unifying framework for the analysis and control of AMoD systems, which provides a large set of modeling options (e.g. the inclusion of road capacities and charging constraints), and subsumes earlier Jackson and network flow models.<\/jats:p>","DOI":"10.1177\/0278364918780335","type":"journal-article","created":{"date-parts":[[2018,6,28]],"date-time":"2018-06-28T05:05:44Z","timestamp":1530162344000},"page":"357-374","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":74,"title":["A BCMP network approach to modeling and controlling autonomous mobility-on-demand systems"],"prefix":"10.1177","volume":"38","author":[{"given":"Ramon","family":"Iglesias","sequence":"first","affiliation":[{"name":"Stanford University, Stanford, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Federico","family":"Rossi","sequence":"additional","affiliation":[{"name":"Stanford University, Stanford, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rick","family":"Zhang","sequence":"additional","affiliation":[{"name":"Zoox Inc., Menlo Park, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marco","family":"Pavone","sequence":"additional","affiliation":[{"name":"Stanford University, Stanford, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2018,6,28]]},"reference":[{"key":"bibr1-0278364918780335","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVE.2014.7297687"},{"key":"bibr2-0278364918780335","doi-asserted-by":"publisher","DOI":"10.4018\/978-1-60566-226-8.ch003"},{"key":"bibr3-0278364918780335","doi-asserted-by":"publisher","DOI":"10.1145\/2764468.2764527"},{"key":"bibr4-0278364918780335","doi-asserted-by":"publisher","DOI":"10.1145\/321879.321887"},{"key":"bibr5-0278364918780335","doi-asserted-by":"publisher","DOI":"10.1016\/j.ejor.2014.07.020"},{"key":"bibr6-0278364918780335","unstructured":"Bureau of Public Roads (1964) Traffic assignment manual. 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