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.

翻译：摘要：室内自主驾驶测试平台已作为昂贵户外测试场与虚拟仿真的补充手段出现，为导航、交通优化及群体智能等研究提供了可扩展且经济高效的解决方案。然而，现有平台普遍缺乏支持高级研究所必需的高性能感知与计算基础设施。针对上述局限，本文提出室内互联自主测试平台（ICAT），该平台不仅解决了室内自主驾驶面临的独特挑战，更在车载计算与V2X通信领域实现了创新。此外，ICAT通过CARLA与SUMO仿真构建数字孪生系统，支持集中式与分布式自主部署方案。