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

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 atthis https URL. The workshop's own website is available atthis https URL.

@article{xu2025_2503.05656,
  title={ Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap },
  author={ Jianye Xu and Bassam Alrifaee and Johannes Betz and Armin Mokhtarian and Archak Mittal and Mengchi Cai and Rahul Mangharam and Omar M. Shehata and Catherine M. Elias and Jan-Nico Zaech and Patrick Scheffe and Felix Jahncke and Sangeet Sankaramangalam Ulhas and Kaj Munhoz Arfvidsson },
  journal={arXiv preprint arXiv:2503.05656},
  year={ 2025 }
}