This repository contains source code for the CPM Lab, an open source platform for networked and autonomous vehicles. The CPM Lab provides a simulation environment and 20 model-scale vehicles for experiments. The software architecture enables the seamless transfer of algorithms tested in simulation to real experiments without any adaptions. Experiments with the 20 vehicles can be extended by unlimited additional simulated vehicles. A Data Distribution Service (DDS) based middleware is responsible for synchronizing all entities and establishes a logical execution time approach. It further allows to change the number of vehicles during experiments.
The CPM Lab lets researchers as well as students from different disciplines see their ideas develop into reality. More information is provided in our publication [1], which we kindly ask you to consider citing if you find the CPM Lab helpful for your work.

The documentation describes how to set up the simulation environment of the lab and how to set up the complete lab hardware. It also explains its usage with tutorials and documents its components.

This research is supported by the Deutsche Forschungsgemeinschaft (German Research Foundation) within the Priority Program SPP 1835 "Cooperative Interacting Automobiles" (grant number: KO 1430/17-1), the Post Graduate Program GRK 1856 "Integrated Energy Supply Modules for Roadbound E-Mobility", the project "CiTi – Center for integrative Traffic investigation", the fund “digital teaching and learning infrastructure” of the state NRW, and the quality improvement funds at RWTH Aachen University.

• [1] M. Kloock, J. Maczijewski, P. Scheffe, A. Kampmann, A. Mokhtarian, S. Kowalewski and B. Alrifaee. "Cyber-Physical Mobility Lab An Open-Source Platform for Networked and Autonomous Vehicles". arXiv preprint 2004.10063.
  https://www.youtube.com/watch?v=VXvZj6gBsYo
• [2] M. Kloock, P. Scheffe, I. Tülleners, J. Maczijewski, S. Kowalewski and B. Alrifaee. "Vision-Based Real-Time Indoor Positioning System for Multiple Vehicles". IFAC World Congress 2020.
  https://www.youtube.com/watch?v=k6aD5G9DW4o
• [3] P. Scheffe, J. Maczijewski, M. Kloock, A. Derks, S. Kowalewski, B. Alrifaee. "Networked and Autonomous Model-scale Vehicles for Experiments in Research and Education". IFAC World Congress 2020.
  https://www.youtube.com/watch?v=84R28cSxWQU