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arXiv · 2503.05656

Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap

Jianye Xu·Johannes Betz·Armin Mokhtarian·Archak Mittal·Mengchi Cai·Rahul Mangharam·Omar M. Shehata·Catherine M. Elias·Jan-Nico Zaech·Patrick Scheffe·Felix Jahncke·Sangeet Sankaramangalam Ulhas·Kaj Munhoz Arfvidsson·Bassam Alrifaee
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Abstract

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.

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Jianye Xu, Johannes Betz, Armin Mokhtarian, Archak Mittal, Mengchi Cai, Rahul Mangharam, Omar M. Shehata, Catherine M. Elias, Jan-Nico Zaech, Patrick Scheffe, Felix Jahncke, Sangeet Sankaramangalam Ulhas, Kaj Munhoz Arfvidsson, Bassam Alrifaee. 2026-03-24. Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap. https://doi.org/10.1109/mits.2026.3666681

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