  We study intersection access control for autonomous vehicles. Platoon forming
algorithms, which aim to organize individual vehicles in platoons, are very
promising. To create those platoons, we slow down vehicles before the actual
arrival at the intersection in such a way that each vehicle can traverse the
intersection at high speed. This increases the capacity of the intersection
significantly, offering huge potential savings with respect to travel time
compared to nowadays traffic.
  We propose several new platoon forming algorithms and provide an approximate
mean delay analysis for our algorithms. A comparison between the current day
practice at intersections (through a case study in SUMO) and our proposed
algorithms is provided. Simulation results for fairness are obtained as well,
showing that platoon forming algorithms with a low mean delay sometimes are
relatively unfair, indicating a potential need for balancing mean delay and
fairness.
