  The implementation of connected and automated vehicle (CAV) technologies
enables a novel computational framework to deliver real-time control actions
that optimize travel time, energy, and safety. Hardware is an integral part of
any practical implementation of CAVs, and as such, it should be incorporated in
any validation method. However, high costs associated with full scale, field
testing of CAVs have proven to be a significant barrier. In this paper, we
present the implementation of a decentralized control framework, which was
developed previously, in a scaled-city using robotic CAVs, and discuss the
implications of CAVs on travel time. Supplemental information and videos can be
found at https://sites.google.com/view/ud-ids-lab/tfms.
