­Background Connected Autonomous Vehicles (CAVs) are expected to enable reliable and efficient transportation systems. Most cooperative driving approaches for CAVs and motion planning algorithms for multi-agent systems are not completely safe because they implicitly assume that all vehicles/agents will execute the expected plan within a small margin...

Background The advent of Connected Autonomous Vehicles (CAV) promises to reduce traffic fatalities and improve throughputs of transportation infrastructures. Management of CAVs in traffic intersections have gravitated toward centralized approaches—where at least one task is globally decided for all vehicles by a single central controller—since...