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ICAT: An Indoor Connected and Autonomous Testbed for Vehicle Computing

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arxiv 2402.17933 v2 pith:XTDYKU65 submitted 2024-02-27 cs.RO

Zhaofeng Tian , William He , Boyang Tian , Ren Zhong , Erfan Foorginejad , Weisong Shi This is my paper
classification cs.RO
keywords autonomousindoorcomputingicatconnecteddrivingresearchsimulations
verification ladder T0 review T1 audit T2 compute T3 formal
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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.

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