# Scheduling Autonomous Vehicle Platoons Through an Unregulated Intersection

arXiv: https://arxiv.org/abs/1609.04512 · HTML: https://mlsanity.com/paper/1609.04512/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Sep 2016.

## Built on by (most cited first, 1 of 1)

- [A Hybrid Evolutionary Approach for Multi Robot Coordinated Planning at Intersections](https://mlsanity.com/paper/2412.01082/) (2024)

## Abstract (arXiv)

We study various versions of the problem of scheduling platoons of autonomous vehicles through an unregulated intersection, where an algorithm must schedule which platoons should wait so that others can go through, so as to minimize the maximum delay for any vehicle. We provide polynomial-time algorithms for constructing such schedules for a k-way merge intersection, for constant k, and for a crossing intersection involving two-way traffic. We also show that the more general problem of scheduling autonomous platoons through an intersection that includes both a k-way merge, for non-constant k, and a crossing of two-way traffic is NP-complete.