User-friendly modeling and virtual simulation of urban traffic scenarios with different types of interacting agents such as pedestrians, cyclists and autonomous vehicles remains a challenge. We present CARJAN, a novel tool for semi-automated generation and simulation of such scenarios based on the multi-agent engineering framework AJAN and the driving simulator CARLA. CARJAN provides a visual user interface for the modeling, storage and maintenance of traffic scenario layouts, and leverages SPARQL Behavior Tree-based decision-making and interactions for agents in dynamic scenario simulations in CARLA. CARJAN provides a first integrated approach for interactive, intelligent agent-based generation and simulation of virtual traffic scenarios in CARLA.
@article{arxiv.2508.21411,
title = {CARJAN: Agent-Based Generation and Simulation of Traffic Scenarios with AJAN},
author = {Leonard Frank Neis and Andre Antakli and Matthias Klusch},
journal= {arXiv preprint arXiv:2508.21411},
year = {2025}
}