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A search for a balance between complexity and comprehensibility of the solution led us to the field of multiagent systems. Beliefs-Desires-Intentions (BDI) systems offer useful abstractions for activities of a single selfdriving car and collective intelligence of such vehicles. Indeed, the BDI framework helps to combine two distinct natures of a selfdriving car: its reactiveness and proactiveness. Moreover, the modularity of the resulting architectures for an individual CAV and urban traffic induced by these cars makes the design intelligible and flexible. Our prototype verifies the feasibility of this concept. |