Intersection Coordination with Priority-Based Search for Autonomous Vehicles

Jiaoyang Li, The Anh Hoang, Eugene Lin, Hai L. Vu and Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 11578-11585, 2023.
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Coordinating vehicles with optimal solver MILP (left), our solver PSL (middle), and greedy solver FCFS (right):

Mixed Integer Linear Programming Our MAPF-Based Algorithm First Come First Served