  This paper addresses cooperative lane-changing maneuvers in mixed traffic,
aiming to minimize traffic flow disruptions while accounting for uncooperative
vehicles. The proposed approach adopts controllers combining Optimal control
with Control Barrier Functions (OCBF controllers) which guarantee
spatio-temporal constraints through the use of fixed-time convergence.
Additionally, we introduce robustness to disturbances by deriving a method for
handling worst-case disturbances using the dual of a linear programming
problem. We present a near-optimal solution that ensures safety, optimality,
and robustness to changing behavior of uncooperative vehicles. Simulations
demonstrate the effectiveness of the proposed approach in enhancing efficiency
and safety.
