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Traffic congestion is one of the leading causes of lost productivity and decreased standard of living in urban settings. Recent advances in artificial intelligence suggest vehicle navigation by autonomous agents will be possible in the near future. In a previous paper, we proposed a reservation-based system for alleviating traffic congestion, specifically at intersections. This paper extends our prototype implementation in several ways with the aim of making it more implementable in the real world. In particular, we 1) add the ability of vehicles to turn, 2) enable them to accelerate while in the intersection, 3) give a better sensor model and communication-efficient heuristic to our driver agent, and 4) augment their interaction capabilities with a detailed protocol such that the vehicles do not need to know anything about the intersection control policy. The use of this protocol limits the interaction of the driver agent and the intersection manager to the extent that it is a reasonable approximation of reliable wireless communication. We then use this protocol to implement a new control policy: the stop sign. All three improvements are fully implemented and tested, and we present detailed empirical results validating their effectiveness.