  We propose a fully distributed control system architecture, amenable to
in-vehicle implementation, that aims to safely coordinate connected and
automated vehicles (CAVs) in road intersections. For control purposes, we build
upon a fully distributed model predictive control approach, in which the agents
solve a nonconvex optimal control problem (OCP) locally and synchronously, and
exchange their optimized trajectories via vehicle-to-vehicle (V2V)
communication. To accommodate a fast solution of the nonconvex OCPs, we apply
the penalty convex-concave procedure which aims to solve a convexified version
of the original OCP. For experimental evaluation, we complement the predictive
controller with a localization layer, being in charge of self-localization and
the estimation of joint collision points with other agents. Moreover, we come
up with a proprietary communication protocol to exchange trajectories with
other agents. Experimental tests reveal the efficacy of proposed control system
architecture.
