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Recently several artificial intelligence labs have suggested the use of fully equipped vehicles with the capability of sensing the surrounding environment to enhance roadway safety. As a result, it is anticipated in the future that many vehicles will be autonomous and thus there is a need to optimize the movement of these vehicles. This paper presents a new tool for optimizing the movements of autonomous vehicles through intersections: iCACC. The main concept of the proposed tool is to control vehicle trajectories using Cooperative Adaptive Cruise Control (CACC) systems to avoid collisions and minimize intersection delay. Simulations were executed to compare conventional signal control with iCACC considering two measures of effectiveness - delay and fuel consumption. Savings in delay and fuel consumption in the range of 91 and 82 percent relative to conventional signal control were demonstrated, respectively.