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arXiv · 2511.11022

Miniature Testbed for Validating Multi-Agent Cooperative Autonomous Driving

Hyunchul Bae·Eunjae Lee·Jehyeop Han·Minhee Kang·Jaehyeon Kim·Junggeun Seo·Minkyun Noh·Heejin Ahn
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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.

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Hyunchul Bae, Eunjae Lee, Jehyeop Han, Minhee Kang, Jaehyeon Kim, Junggeun Seo, Minkyun Noh, Heejin Ahn. 2025-11-14. Miniature Testbed for Validating Multi-Agent Cooperative Autonomous Driving. https://arxiv.org/abs/2511.11022

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