[1] Univ Calif Berkeley, Inst Transportat Studies ITS, Berkeley, CA 94720 USA
[2] FAU Erlangen Nurnberg, Dept Math, Cauerstr 11, D-91058 Erlangen, Germany
[3] Friedrich Alexander Univ Erlangen Nurnberg, FAU Competence Ctr Sci Comp, Martensstr 5a, D-91058 Erlangen, Germany
[4] Dept Math, Chair Appl Math Continuous Optimizat, Cauerstr 11, D-91058 Erlangen, Germany