  The coordination of autonomous vehicles is an open field that is addressed by
different researches comprising many different techniques. In this paper we
focus on decentralized approaches able to provide adaptability to different
infrastructural and traffic conditions. We formalize an Emergent Behavior
Approach that, as per our knowledge, has never been performed for this purpose,
and a Decentralized Auction approach. We compare them against existing
centralized negotiation approaches based on auctions and we determine under
which conditions each approach is preferable to the others.
