  Several approaches have been proposed in the literature that allow connected
and automated vehicles (CAVs) to coordinate in areas where there is a potential
conflict, for example, in intersections, merging at roadways and roundabouts.
In this paper, we consider the problem of coordinating CAVs in a corridor
consisting of several conflict areas where collision may occur. We derive a
solution that yields the optimal control input, in terms of fuel consumption,
for each CAV to cross the corridor under the hard safety constraints. We
validate the effectiveness of the solution through simulation, and we show that
both fuel consumption and travel time can be improved significantly.
