A Consensus Protocol for Connecting Automated Vehicles at Signal-Free Intersection

This paper proposes a consensus protocol that a set of Autonomous Vehicles (AVs) can apply when they cross an intersection. The object is to avoid collisions and minimize the delay or the anticipation with respect to a forecast exit time from the intersection. The peculiarity of the proposed approach is not using a traffic manager and a coordinator of the vehicles. A large simulation campaign shows that the AVs are able to reach a solution in short time and with a small number of iterations.