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There is an increasing interest in the automation of driving tasks highway traffic management. The authors address intelligent intersections design problems, where traffic lights are removed. Cars exercise an interaction of centralized and distributed decision making to negotiate the intersection through. Intelligent intersections are a representative of complex hybrid systems, where the challenge is to design a tractable distributed algorithm that guarantee safety and provide better performance. The architecture should allow distributed freedom of action to cars yet should watch against worst-case behavior of other cars to ensure collision avoidance.
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