6 papers
Zero-Shot MARL Benchmark in the Cyber-Physical Mobility Lab
Julius Beerwerth, Jianye Xu, Simon Schäfer +2
We present a reproducible benchmark for evaluating sim-to-real transfer of Multi-Agent Reinforcement Learning (MARL) policies for Connected and Automated Vehicles (CAVs). The platf…
Ufil: A Unified Framework for Infrastructure-based Localization
Simon Schäfer, Lucas Hegerath, Marius Molz +2
Infrastructure-based localization enhances road safety and traffic management by providing state estimates of road users. Development is hindered by fragmented, application-specifi…
Integrated Wheel Sensor Communication using ESP32 -- A Contribution towards a Digital Twin of the Road System
Ventseslav Yordanov, Simon Schäfer, Alexander Mann +3
While current onboard state estimation methods are adequate for most driving and safety-related applications, they do not provide insights into the interaction between tires and ro…
Lidar-based Tracking of Traffic Participants with Sensor Nodes in Existing Urban Infrastructure
Simon Schäfer, Bassam Alrifaee, Ehsan Hashemi
This paper presents a lidar-only state estimation and tracking framework, along with a roadside sensing unit for integration with existing urban infrastructure. Urban deployments d…
Simulation to Reality: Testbeds and Architectures for Connected and Automated Vehicles
David Klüner, Simon Schäfer, Lucas Hegerath +5
Ensuring the safe and efficient operation of CAVs relies heavily on the software framework used. A software framework needs to ensure real-time properties, reliable communication,…
A Survey on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms
Armin Mokhtarian, Jianye Xu, Patrick Scheffe +11
Connected and automated vehicles and robot swarms hold transformative potential for enhancing safety, efficiency, and sustainability in the transportation and manufacturing sectors…