Algorithm 1: Decentralized Traffic Control Algorithm

acquire current cell states $c_{i,j}$   predict occupancy of traffic lanes $d_i$   if not setup time then     begin // minimum green period constraint     for each signal group $g\in G$ do     if signal group g was not active longer than $T-1$ time steps then      begin //inter-green period constraint      active group $g*:=g$      go to 13      end     estimate priorities ${\pi }_g$ for all signal groups g = 1, ..., #G     active group $g*$ := control group with the highest priority ${\pi }_{g*}=max\{{\pi }_1,...,{\pi }_{\#G}\}$     end