Autonomous vehicle and method for coordinating the paths of multiple autonomous vehicles

A non-transitory processor readable medium storing code representing instructions to be executed by a processor, the code comprising code to cause the processor to:

• receive, at a first time at a first autonomous vehicle operating at an airport, a first planned ground taxiing path associated with a second autonomous vehicle operating at the airport and including an indication of a priority of the first planned ground taxiing path;
• determine, at the first autonomous vehicle, that a conflict exists between the first planned ground taxiing path and a second planned ground taxiing path, the second planned ground taxiing path associated with the first autonomous vehicle;
• in response to determining that the conflict exists, generate, at a second time after the first time and at the first autonomous vehicle and without further coordination with the second autonomous vehicle, a third planned ground taxiing path different from the second planned ground taxiing path, the third planned ground taxiing path resolving the conflict such that the second autonomous vehicle can follow the first planned ground taxiing path, the third planned ground taxiing path generated in response to a priority of the second planned ground taxiing path being lower than the priority of the first planned ground taxiing path;
• transmit the third planned ground taxiing path at a third time after the second time;
• rereceive the first planned ground taxiing path at a fourth time after the third time;
• and
• cause the first autonomous vehicle to taxi according to the third planned ground taxiing path.