  We address the problem of coordinating online a continuous flow of connected
and automated vehicles (CAVs) crossing two adjacent intersections in an urban
area. We present a decentralized optimal control framework whose solution
yields for each vehicle the optimal acceleration/deceleration at any time in
the sense of minimizing fuel consumption. The solu- tion, when it exists,
allows the vehicles to cross the intersections without the use of traffic
lights, without creating congestion on the connecting road, and under the hard
safety constraint of collision avoidance. The effectiveness of the proposed
solution is validated through simulation considering two intersections located
in downtown Boston, and it is shown that coordination of CAVs can reduce
significantly both fuel consumption and travel time.
