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Traffic congestion has been persistently growing in the US from 1982 to 2020 since road capacity has not grown at the same pace as the population in urban areas. In 2019, traffic congestion in urban areas in the US caused drivers to spend an extra 8.7 billion hours on the road, purchasing an extra 3.5 billion gallons of fuel for a congestion cost of $190 billion. Global climate change has also resulted in the pressing need for improved energy efficiency and reduced environmental impact on transportation. Additionally, traffic safety is another growing concern. In 2018, there were 5.2 M traffic accidents in the US, resulting in more than 38K fatalities and 2.2 M people injured. Equipped with capacities of computing capabilities and advanced communication and vehicle technologies, connected and automated vehicles (CAVs) provide novel and innovative opportunities to significantly reduce energy consumption …