The coordination of autonomous vehicles is an open field that is addressed by different researches comprising many different techniques. In this paper we focus on decentralized approaches able to provide adaptability to different infrastructural and traffic conditions. We formalize an Emergent Behavior Approach that, as per our knowledge, has never been performed for this purpose, and a Decentralized Auction approach. We compare them against existing centralized negotiation approaches based on auctions and we determine under which conditions each approach is preferable to the others.

翻译：自主车辆的协同是一个开放领域，已有多种研究采用不同技术进行探索。本文聚焦于能够适应不同基础设施和交通条件的分散式方法。我们形式化了一种涌现行为方法（据我们所知，该方法此前从未用于此目的）和一种分散式拍卖方法。我们将这两种方法与现有的基于拍卖的集中式协商方法进行比较，并确定每种方法优于其他方法的适用条件。