A system and method for guiding and coordinating vehicular traffic determine tasks to be completed by vehicles in a transportation network in order to complete an objective, allocate the tasks among the vehicles, and determine sets of allowable actions for the vehicles based on the allocation of the tasks. The sets of allowable actions dictate plural different allowable actions that the vehicles are allowed to perform in order to complete the tasks allocated to the vehicles. The allowable actions are determined such that the vehicles are scheduled to complete the tasks and complete the objective without the vehicles colliding or blocking movement of each other. The allowable actions are communicated to the vehicles such that the vehicles are permitted to select one or more of the allowable actions and prohibited from performing one or more other actions during performance of the tasks allocated to the vehicles.