{"ID":2841550,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.11022","arxiv_id":"2511.11022","title":"Miniature Testbed for Validating Multi-Agent Cooperative Autonomous Driving","abstract":"Cooperative autonomous driving, which extends vehicle autonomy by enabling real-time collaboration between vehicles and smart roadside infrastructure, remains a challenging yet essential problem. However, none of the existing testbeds employ smart infrastructure equipped with sensing, edge computing, and communication capabilities. To address this gap, we design and implement a 1:15-scale miniature testbed, CIVAT, for validating cooperative autonomous driving, consisting of a scaled urban map, autonomous vehicles with onboard sensors, and smart infrastructure. The proposed testbed integrates V2V and V2I communication with the publish-subscribe pattern through a shared Wi-Fi and ROS2 framework, enabling information exchange between vehicles and infrastructure to realize cooperative driving functionality. As a case study, we validate the system through infrastructure-based perception and intersection management experiments.","short_abstract":"Cooperative autonomous driving, which extends vehicle autonomy by enabling real-time collaboration between vehicles and smart roadside infrastructure, remains a challenging yet essential problem. However, none of the existing testbeds employ smart infrastructure equipped with sensing, edge computing, and communication...","url_abs":"https://arxiv.org/abs/2511.11022","url_pdf":"https://arxiv.org/pdf/2511.11022v1","authors":"[\"Hyunchul Bae\",\"Eunjae Lee\",\"Jehyeop Han\",\"Minhee Kang\",\"Jaehyeon Kim\",\"Junggeun Seo\",\"Minkyun Noh\",\"Heejin Ahn\"]","published":"2025-11-14T07:21:09Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}