  In this paper, we provide a decentralized optimal control framework for
coordinating connected and automated vehicles (CAVs) in two interconnected
intersections. We formulate a control problem and provide a solution that can
be implemented in real time. The solution yields the optimal
acceleration/deceleration of each CAV under the safety constraint at "conflict
zones," where there is a chance of potential collision. Our objective is to
minimize travel time for each CAV. If no such solution exists, then each CAV
solves an energy-optimal control problem. We evaluate the effectiveness of the
efficiency of the proposed framework through simulation.
