A Real-Time Optimal Eco-driving Approach for Autonomous Vehicles Crossing Multiple Signalized Intersections* This work was supported in part by NSF under grants ECCS-1509084, IIP-1430145, and CNS-1645681, by AFOSR under grant FA9550-12-1-0113, by ARPA-E‘s NEXTCAR program under grant DE-AR0000796, and by Bosch and the MathWorks.