A Semidistributed Interior Point Algorithm for Optimal Coordination of Automated Vehicles at Intersections

In this article, we consider the optimal coordination of automated vehicles at intersections under fixed crossing orders. We formulate problem using direct control and exploit structure to construct a semidistributed primal-dual interior-point algorithm solve it by parallelizing most computations. Differently from standard distributed optimization algorithms, where is split, in our approach split linear algebra steps, such that takes same steps as fully centralized one, while still performing computations fashion. analyze communication requirements algorithm, propose an approximation scheme which can significantly reduce data exchange. demonstrate effectiveness hard but realistic scenarios, show leads reductions communicated almost 99% exact formulation, expense less than 1% suboptimality.