Planning of Autonomous Multi-agent Intersection Ilya I. Viksnin, Igor A. Zikratov, Andrei A. Shlykov, Daria L. Belykh, Igor I. Komarov and Gennady A. Botvin ITM Web Conf., 8 (2016) 01007 Published online: 22 November 2016 DOI: 10.1051/itmconf/20160801007