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应运而生，用于补充成本高昂的室外测试平台与虚拟仿真，为导航、交通优化及群体智能研究提供可扩展且经济的解决方案。然而，现有平台往往缺乏支持高级研究所必需的稳健感知与计算基础设施。为突破这些局限，我们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的特殊挑战，还推动了车辆计算与车联网（V2X）通信的创新。此外，ICAT通过CARLA和SUMO仿真集成数字孪生技术，支持集中式与分布式自主系统的部署。