I think a short summary is that the researchers are looking at proposing a few different schedulers for intersections with the aim of implementing them with autonomous cars. The results exist in ideal conditions with little thought given to real-world edge cases, what a transition might look like, how cars would coordinate, or if a square intersection is even a good shape for this kind of thing.

My lingering question after reading the paper is the enforcement mechanism. Process scheduling because there's an omnipotent authority with total control over all processes but whatever system is used needs to work with no central control and if all the cars are programmed to be selfish.