  The rapid development of autonomous vehicles spurred a careful investigation
of the potential benefits of all-autonomous transportation networks. Most
studies conclude that autonomous systems can enable drastic improvements in
performance. A widely studied concept is all-autonomous, collision-free
intersections, where vehicles arriving in a traffic intersection with no
traffic light adjust their speeds to cross safely through the intersection as
quickly as possible. In this paper, we propose a coordination control algorithm
for this problem, assuming stochastic models for the arrival times of the
vehicles. The proposed algorithm provides provable guarantees on safety and
performance. More precisely, it is shown that no collisions occur surely, and
moreover a rigorous upper bound is provided for the expected wait time. The
algorithm is also demonstrated in simulations. The proposed algorithms are
inspired by polling systems. In fact, the problem studied in this paper leads
to a new polling system where customers are subject to differential
constraints, which may be interesting in its own right.
