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Introduction
Background: Train Operation and Scheduling
Optimal Trajectory Planning for a Single Train
Optimal Trajectory Planning for Multiple Trains
OD-Independent Train Scheduling for an Urban Rail Transit Line
OD-Dependent Train Scheduling for an Urban Rail Transit Line
OD-Dependent Train Scheduling for an Urban Rail Transit Network
Overview and Future Directions
Appendix: A General Formulation of the Pseudospectral Method.

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