  Confined areas present an opportunity for early deployment of autonomous
vehicles (AV) due to the absence of non-controlled traffic participants. In
this paper, we present an approach for coordination of multiple AVs in confined
sites. The method computes speed-profiles for the AVs such that collisions are
avoided in cross-intersection and merge crossings. Specifically, this is done
through the solution of an optimal control problem where the motion of all
vehicles is optimized jointly. The order in which the vehicles pass the
crossings is determined through the solution of a Mixed Integer Quadratic
Program (MIQP). Through simulation results, we demonstrate the capability of
the algorithm in terms of performance and satisfaction of collision avoidance
constraints.
