Controlled parking for self-driving cars

We explored the problems which are soon to be faced while parking autonomous cars in parking lots. Like where is the closest parking slot available to the autonomous car? How to navigate to that location? What kind of parking structures could be good for autonomous cars? We also provide an initial solution which uses a central server and the graph of the parking lot to guide the cars to the closest parking slots. With experiments, we have shown that our proposed method should be effective for the controlled parking for self-driving cars.