  High-speed signal-free intersections are a novel urban traffic operations
enabled by connected and autonomous vehicles. However, the impact of
communication latency on intersection performance has not been well understood.
In this paper, we consider vehicle coordination at signal-free intersections
with latency. We focus on two questions: (i) how to ensure latency-resiliency
of the coordination algorithm, and (ii) how latency affects the intersection's
capacity. We consider a trajectory-based model with bounded speed
uncertainties. Latency leads to uncertain state observation. We propose a
piecewise-linear control law that ensures safety (avoidance of interference) as
long as the initial condition is safe. We also analytically quantify the
throughput that the proposed control can attain in the face of latency.
