  Deriving optimal control strategies for coordination of connected and
automated vehicles (CAVs) often requires re-evaluating the strategies in order
to respond to unexpected changes in the presence of disturbances and
uncertainties. In this paper, we first extend a decentralized framework that we
developed earlier for coordination of CAVs at a signal-free intersection to
incorporate replanning. Then, we further enhance the framework by introducing a
priority-aware resequencing mechanism which designates the order of decision
making of CAVs based on theory from the job-shop scheduling problem. Our
enhanced framework relaxes the first-come-first-serve decision order which has
been used extensively in these problems. We illustrate the effectiveness of our
proposed approach through numerical simulations.
