  This paper investigates a consensus-based auction algorithm in the context of
decentralized traffic control. In particular, we study the automation of a road
intersection, where a set of vehicles is required to cross without collisions.
The crossing order will be negotiated in a decentralized fashion. An on-board
model predictive controller (MPC) will compute an optimal trajectory which
avoids collisions with higher priority vehicles, thus retaining convex safety
constraints. Simulations are then performed in a time-variant traffic
environment.
