ICAT: An Indoor Connected and Autonomous Testbed for Vehicle Computing

Zhaofeng Tian; William He; Boyang Tian; Ren Zhong; Erfan Foorginejad; Weisong Shi

ICAT: An Indoor Connected and Autonomous Testbed for Vehicle Computing

Robotics 2024-03-07 v2

Authors: Zhaofeng Tian , William He , Boyang Tian , Ren Zhong , Erfan Foorginejad , Weisong Shi

Abstract

Indoor autonomous driving testbeds have emerged to complement expensive outdoor testbeds and virtual simulations, offering scalable and cost-effective solutions for research in navigation, traffic optimization, and swarm intelligence. However, they often lack the robust sensing and computing infrastructure for advanced research. Addressing these limitations, we introduce the Indoor Connected Autonomous Testbed (ICAT), a platform that not only tackles the unique challenges of indoor autonomous driving but also innovates vehicle computing and V2X communication. Moreover, ICAT leverages digital twins through CARLA and SUMO simulations, facilitating both centralized and decentralized autonomy deployments.

Keywords

vehicular communication security intelligent transportation system autonomous driving

Cite

@article{arxiv.2402.17933,
  title  = {ICAT: An Indoor Connected and Autonomous Testbed for Vehicle Computing},
  author = {Zhaofeng Tian and William He and Boyang Tian and Ren Zhong and Erfan Foorginejad and Weisong Shi},
  journal= {arXiv preprint arXiv:2402.17933},
  year   = {2024}
}

ICAT: An Indoor Connected and Autonomous Testbed for Vehicle Computing

Abstract

Keywords

Cite

Related papers