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This paper investigates a consensus-based auction algorithm in the context ofdecentralized traffic control. In particular, we study the automation of a roadintersection, where a set of vehicles is required to cross without collisions.The crossing order will be negotiated in a decentralized fashion. An on-boardmodel predictive controller (MPC) will compute an optimal trajectory whichavoids collisions with higher priority vehicles, thus retaining convex safetyconstraints. Simulations are then performed in a time-variant trafficenvironment.

Automation Of Road Intersections Using Consensus-based Auction Algorithms