Today’s urban environments are complex, highly congested traffic scenarios that suffer from multiple unsolved problems such as traffic jams and congestion. These problems pose a significant increase in the risks and probability of traffic accidents in modern cities, which have experienced an enormous growth in the number of vehicles. This work introduces a centralized arbitration framework designed for Cooperative Connected Automated Vehicles (CCAVs) to make real-time decisions and resolve conflicts among various driving strategies or behaviors to facilitate resource reservation based on their collaborative actions. Cooperation and arbitration are two of the most important areas of research that seek to provide tools and mechanisms for the optimization and control of traffic flow at critical locations such as intersections and traffic circles. The approach presented, fully implemented on ROS and capable of constructing a software-defined traffic control environment, is able to supervise in a distributed manner how any CCAV operates with the infrastructure, potentially reducing the number of vehicles waiting and harmonizing the traffic flow. The methodology proposed surpasses traditional driver-in-the-loop cooperation by delivering a higher level of automation for collaborative traffic behavior. This approach demonstrably reduces average waiting time by 13% and increases the total utilization of the traffic emplacement by 70% compared to the classic simulated traffic light model. The solution presented was tested on the Carla simulator, with a complete ROS-based vehicle automation solution that provides promising results for CCAV coordination in complex traffic scenarios through a general framework of behavior-based collaboration.