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Control in urban traffic networks constitutes an important and challenging research topic nowadays. In the literature, a lot of work can be found devoted to improving the performance of the traffic flow in such systems, by means of controlling the red-to-green switching times of traffic signals. Different techniques have been proposed and commercially implemented, ranging from heuristic methods to model-based optimization. However, given the complexity of the dynamics and the scale of urbandoi:10.1109/cca.2010.5611322 dblp:conf/IEEEcca/VazquezSBS10 fatcat:f5ioe35zfbduhfb6woxcllfqvq