Armin Mokhtarian

Jianye Xu, Johannes Betz, Armin Mokhtarian et al.

This article proposes a roadmap to address the current challenges in small-scale testbeds for Connected and Automated Vehicles (CAVs) and robot swarms. The roadmap is a joint effort of participants in the workshop "1st Workshop on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms," held on June 2 at the IEEE Intelligent Vehicles Symposium (IV) 2024 in Jeju, South Korea. The roadmap contains three parts: 1) enhancing accessibility and diversity, especially for underrepresented communities, 2) sharing best practices for the development and maintenance of testbeds, and 3) connecting testbeds through an abstraction layer to support collaboration. The workshop features eight invited speakers, four contributed papers [1]-[4], and a presentation of a survey paper on testbeds [5]. The survey paper provides an online comparative table of more than 25 testbeds, available at https://bassamlab.github.io/testbeds-survey. The workshop's own website is available at https://cpm-remote.lrt.unibw-muenchen.de/iv24-workshop.

Maximilian Kloock, Patrick Scheffe, Janis Maczijewski et al.

This paper introduces our Cyber-Physical Mobility Lab (CPM Lab). It is an open-source development environment for networked and autonomous vehicles with focus on networked decision-making, trajectory planning, and control. The CPM Lab hosts 20 physical model-scale vehicles (μCars) which we can seamlessly extend by unlimited simulated vehicles. The code and construction plans are publicly available to enable rebuilding the CPM Lab. Our four-layered architecture enables the seamless use of the same software in simulations and in experiments without any further adaptions. A Data Distribution Service (DDS) based middleware allows adapting the number of vehicles during experiments in a seamless manner. The middleware is also responsible for synchronizing all entities following a logical execution time approach to achieve determinism and reproducibility of experiments. This approach makes the CPM Lab a unique platform for rapid functional prototyping of networked decision-making algorithms. The CPM Lab allows researchers as well as students from different disciplines to see their ideas developing into reality. We demonstrate its capabilities using two example experiments. We are working on a remote access to the CPM Lab via a webinterface.