As every user knows buses tend to bunch. To alleviate this problem, transit agencies introduce slack into their schedules and then hold buses back to schedule at pre-established control points along their routes. Unfortunately, this practice retards buses and only works with low frequency systems; i.e., when the headways are long. For higher frequency systems, which effectively operate without a schedule, headway-based control strategies show promise but unfortunately, they also retard buses. To alleviate bus retardation in all its forms, transit signal priority (TSP) is commonly used....