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<button class="button is-small is-link">Go</button> </div> </div> </form> </div> </div> <ol class="breathe-horizontal" start="1"> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2408.14199">arXiv:2408.14199</a> <span> [<a href="https://arxiv.org/pdf/2408.14199">pdf</a>, <a href="https://arxiv.org/format/2408.14199">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Multiagent Systems">cs.MA</span> </div> <div class="is-inline-block" style="margin-left: 0.5rem"> <div class="tags has-addons"> <span class="tag is-dark is-size-7">doi</span> <span class="tag is-light is-size-7"><a class="" href="https://doi.org/10.13140/RG.2.2.16176.74248/1">10.13140/RG.2.2.16176.74248/1 <i class="fa fa-external-link" aria-hidden="true"></i></a></span> </div> </div> </div> <p class="title is-5 mathjax"> A Survey on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Mokhtarian%2C+A">Armin Mokhtarian</a>, <a href="/search/cs?searchtype=author&query=Xu%2C+J">Jianye Xu</a>, <a href="/search/cs?searchtype=author&query=Scheffe%2C+P">Patrick Scheffe</a>, <a href="/search/cs?searchtype=author&query=Kloock%2C+M">Maximilian Kloock</a>, <a href="/search/cs?searchtype=author&query=Sch%C3%A4fer%2C+S">Simon Sch盲fer</a>, <a href="/search/cs?searchtype=author&query=Bang%2C+H">Heeseung Bang</a>, <a href="/search/cs?searchtype=author&query=Le%2C+V">Viet-Anh Le</a>, <a href="/search/cs?searchtype=author&query=Ulhas%2C+S">Sangeet Ulhas</a>, <a href="/search/cs?searchtype=author&query=Betz%2C+J">Johannes Betz</a>, <a href="/search/cs?searchtype=author&query=Wilson%2C+S">Sean Wilson</a>, <a href="/search/cs?searchtype=author&query=Berman%2C+S">Spring Berman</a>, <a href="/search/cs?searchtype=author&query=Paull%2C+L">Liam Paull</a>, <a href="/search/cs?searchtype=author&query=Prorok%2C+A">Amanda Prorok</a>, <a href="/search/cs?searchtype=author&query=Alrifaee%2C+B">Bassam Alrifaee</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2408.14199v2-abstract-short" style="display: inline;"> Connected and automated vehicles and robot swarms hold transformative potential for enhancing safety, efficiency, and sustainability in the transportation and manufacturing sectors. Extensive testing and validation of these technologies is crucial for their deployment in the real world. While simulations are essential for initial testing, they often have limitations in capturing the complex dynami… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2408.14199v2-abstract-full').style.display = 'inline'; document.getElementById('2408.14199v2-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2408.14199v2-abstract-full" style="display: none;"> Connected and automated vehicles and robot swarms hold transformative potential for enhancing safety, efficiency, and sustainability in the transportation and manufacturing sectors. Extensive testing and validation of these technologies is crucial for their deployment in the real world. While simulations are essential for initial testing, they often have limitations in capturing the complex dynamics of real-world interactions. This limitation underscores the importance of small-scale testbeds. These testbeds provide a realistic, cost-effective, and controlled environment for testing and validating algorithms, acting as an essential intermediary between simulation and full-scale experiments. This work serves to facilitate researchers' efforts in identifying existing small-scale testbeds suitable for their experiments and provide insights for those who want to build their own. In addition, it delivers a comprehensive survey of the current landscape of these testbeds. We derive 62 characteristics of testbeds based on the well-known sense-plan-act paradigm and offer an online table comparing 23 small-scale testbeds based on these characteristics. The online table is hosted on our designated public webpage https://bassamlab.github.io/testbeds-survey, and we invite testbed creators and developers to contribute to it. We closely examine nine testbeds in this paper, demonstrating how the derived characteristics can be used to present testbeds. Furthermore, we discuss three ongoing challenges concerning small-scale testbeds that we identified, i.e., small-scale to full-scale transition, sustainability, and power and resource management. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2408.14199v2-abstract-full').style.display = 'none'; document.getElementById('2408.14199v2-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 21 November, 2024; <span class="has-text-black-bis has-text-weight-semibold">v1</span> submitted 26 August, 2024; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> August 2024. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">16 pages, 11 figures, 1 table. This work was accepted by the IEEE Robotics & Automation Magazine</span> </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2004.10063">arXiv:2004.10063</a> <span> [<a href="https://arxiv.org/pdf/2004.10063">pdf</a>, <a href="https://arxiv.org/format/2004.10063">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Multiagent Systems">cs.MA</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> </div> <p class="title is-5 mathjax"> Cyber-Physical Mobility Lab: An Open-Source Platform for Networked and Autonomous Vehicles </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Kloock%2C+M">Maximilian Kloock</a>, <a href="/search/cs?searchtype=author&query=Scheffe%2C+P">Patrick Scheffe</a>, <a href="/search/cs?searchtype=author&query=Maczijewski%2C+J">Janis Maczijewski</a>, <a href="/search/cs?searchtype=author&query=Kampmann%2C+A">Alexandru Kampmann</a>, <a href="/search/cs?searchtype=author&query=Mokhtarian%2C+A">Armin Mokhtarian</a>, <a href="/search/cs?searchtype=author&query=Kowalewski%2C+S">Stefan Kowalewski</a>, <a href="/search/cs?searchtype=author&query=Alrifaee%2C+B">Bassam Alrifaee</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2004.10063v4-abstract-short" style="display: inline;"> 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 (渭Cars) which we can seamlessly extend by unlimited simulated vehicles. The code and construction plans are publicly available… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2004.10063v4-abstract-full').style.display = 'inline'; document.getElementById('2004.10063v4-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2004.10063v4-abstract-full" style="display: none;"> 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 (渭Cars) 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. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2004.10063v4-abstract-full').style.display = 'none'; document.getElementById('2004.10063v4-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 12 January, 2022; <span class="has-text-black-bis has-text-weight-semibold">v1</span> submitted 21 April, 2020; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> April 2020. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">This work has been presented on ECC21</span> </p> </li> </ol> <div class="is-hidden-tablet">  <span class="help" style="display: inline-block;"><a href="https://github.com/arXiv/arxiv-search/releases">Search v0.5.6 released 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