Previous work by the University of Florida and FDOT, with funding by NSF (Award # 1446813), focused on the development of algorithms, software, and hardware solutions to enhance traffic signal control operations simultaneously with CAV trajectories. These tests focused on the integration of this technology considering CAVs and conventional vehicles. The algorithm is capable of optimizing simultaneously vehicle trajectories of CAVs together with the signal control patterns at the intersection. In this project, researchers will incorporate pedestrian presence and movements and the fusion of numerous sensors to refine the algorithm performance and further prepare it for field implementation. The research team will first test the algorithm at FDOT’s TERL laboratory facilities, which include a signalized intersection in a closed course environment. Once ready for field testing, the algorithm will be implemented at one or more intersections of the I-STREET testbed in Gainesville.