“…It is recognized in intersection design manuals (CROW, 2006) that traffic shows random behavior and that therefore delays differ from person to person, and that the performance of an intersection changes over time. Although almost all major cities adopted urban traffic management systems in various forms (see, e.g., Hamilton et al, 2013;Nellore & Hancke, 2016), these systems rarely take the accompanying uncertainties explicitly into account (Tettamanti et al, 2011) although, for example, a quantification of the (prediction) uncertainty helps managers to value forecasts (Laña et al, 2019). In the relative comfort of model predictive control, where a model is assumed to mimic the real-world environment, it was shown that taking uncertainties into consideration improves control decisions (Hu & Hellendoorn, 2013;Tettamanti et al, 2011).…”