This project is partially supported by National Science Foundation – United States under Grant No. CMMI 1663657 “Collaborative Research: Real-time Management of Large Fleets of Self-Driving Vehicles Using Virtual CyberTracks”

The second author also thanks for the early support from FHWA project titled “The Effective Integration of Analysis, Modeling, and Simulation Tools-AMS DATA HUB CONCEPT OF OPERATIONS”.

This document is prepared with the help from Entai Wang.