Using Robots for Prototyping Autonomous Intersection Management: Feasibility and Feedbacks

This paper presents a protocol of an Autonomous Intersection Management. This protocol is mainly based on the wireless communication between robots and the controller. It allows the robots to cooperatively access to the intersection. It is also a step towards a new way of controlling the ordinary traffic at intersections. The right of way is addressed to each robot individually, according to an optimized sequence. This protocol is tested through a prototype where the robots are safely directed through the intersection. The approach raises some issues related to the wireless communication. These issues are discussed in this paper and a robust protocol is given.