  This paper presents YatSim, an open-source program for simulating
consensus-based control strategies in urban traffic networks. Urban traffic is
a multi-agent system which requires agreement among the agents to guarantees
performance, safety, and higher efficiency. YatSim is an user-friendly program
that allows to create randomized urban traffic networks in which vehicles run.
Vehicles agree on crossing priorities at the intersections by executing a
Consensus-Based Auction Algorithm Modified. Ccollisions are avoided by
employing an onboard Model Predictive Controller.
