# A Priority-Aware Replanning and Resequencing Framework for Coordination of Connected and Automated Vehicles

arXiv: https://arxiv.org/abs/2109.05573 · HTML: https://mlsanity.com/paper/2109.05573/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 12 Sep 2021.

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

- [Simultaneous Computation with Multiple Prioritizations in Multi-Agent Motion Planning](https://mlsanity.com/paper/2501.10781/) (2025)

## Abstract (arXiv)

Deriving optimal control strategies for coordination of connected and automated vehicles (CAVs) often requires re-evaluating the strategies in order to respond to unexpected changes in the presence of disturbances and uncertainties. In this paper, we first extend a decentralized framework that we developed earlier for coordination of CAVs at a signal-free intersection to incorporate replanning. Then, we further enhance the framework by introducing a priority-aware resequencing mechanism which designates the order of decision making of CAVs based on theory from the job-shop scheduling problem. Our enhanced framework relaxes the first-come-first-serve decision order which has been used extensively in these problems. We illustrate the effectiveness of our proposed approach through numerical simulations.