Literature

This page collects publications related to the CPM Lab. Some entries describe core components of the lab, while most others present applications, methods, and experiments built on top of the CPM Lab infrastructure.

Core Components

The CPM Lab provides an open-source, modular platform for research on networked and autonomous vehicles, enabling scalable experiments and reproducible results. Please cite the paper Cyber-Physical Mobility Lab: An Open-Source Platform for Networked and Autonomous Vehicles.

M. Kloock et al., “Cyber-Physical Mobility Lab: An Open-Source Platform for Networked and Autonomous Vehicles,” 2021 European Control Conference (ECC), Delft, Netherlands, 2021, pp. 1937-1944, doi: 10.23919/ECC54610.2021.9654986.

@inproceedings{kloock2021cpmlab,
    author={Kloock, Maximilian and Scheffe, Patrick and Maczijewski, Janis and Kampmann, Alexandru and Mokhtarian, Armin and Kowalewski, Stefan and Alrifaee, Bassam},
    booktitle={2021 European Control Conference (ECC)},
    title={Cyber-Physical Mobility Lab: An Open-Source Platform for Networked and Autonomous Vehicles},
    year={2021},
    pages={1937-1944},
    doi={https://doi.org/10.23919/ECC54610.2021.9654986}
}

This work presents a vision-based indoor positioning system that tracks multiple vehicles in real time using camera observations and image processing. Please cite the paper Vision-Based Real-Time Indoor Positioning System for Multiple Vehicles.

Maximilian Kloock et al., “Vision-Based Real-Time Indoor Positioning System for Multiple Vehicles,” IFAC-PapersOnLine, Volume 53, Issue 2, 2020, Pages 15446-15453, https://doi.org/10.1016/j.ifacol.2020.12.2367.

@article{kloock2022ips,
    author={Maximilian Kloock and Patrick Scheffe and Isabelle Tülleners and Janis Maczijewski and Stefan Kowalewski and Bassam Alrifaee},
    title={Vision-Based Real-Time Indoor Positioning System for Multiple Vehicles},
    journal={IFAC-PapersOnLine},
    volume={53},
    number={2},
    pages={15446-15453},
    year={2020},
    note={21st IFAC World Congress},
    issn={2405-8963},
    doi={https://doi.org/10.1016/j.ifacol.2020.12.2367}
}

The paper introduces a set of networked, autonomous model-scale vehicles designed for research and education, supporting cooperative driving experiments. Please cite the paper Networked and Autonomous Model-scale Vehicles for Experiments in Research and Education.

Patrick Scheffe, et al., “Networked and Autonomous Model-scale Vehicles for Experiments in Research and Education,” IFAC-PapersOnLine, Volume 53, Issue 2, 2020, Pages 17332-17337, ISSN 2405-8963, https://doi.org/10.1016/j.ifacol.2020.12.1821.

@article{scheffe2020mucars,
    author={Patrick Scheffe and Janis Maczijewski and Maximilian Kloock and Alexandru Kampmann and Andreas Derks and Stefan Kowalewski and Bassam Alrifaee},
    title={Networked and Autonomous Model-scale Vehicles for Experiments in Research and Education},
    journal={IFAC-PapersOnLine},
    volume={53},
    number={2},
    pages={17332-17337},
    year={2020},
    note={21st IFAC World Congress},
    issn={2405-8963},
    doi={https://doi.org/10.1016/j.ifacol.2020.12.1821}
}

An architecture is proposed for conducting experiments with connected and automated vehicles, integrating simulation, hardware, and communication layers. Please cite the paper An Architecture for Experiments in Connected and Automated Vehicles.

M. Kloock, P. Scheffe, O. Greß, and B. Alrifaee, “An Architecture for Experiments in Connected and Automated Vehicles,” IEEE Open Journal of Intelligent Transportation Systems, vol. 4, pp. 175-186, 2023, doi: 10.1109/OJITS.2023.3250951.

@article{kloock2023architecture,
    author={Kloock, Maximilian and Scheffe, Patrick and Greß, Oliver and Alrifaee, Bassam},
    title={An Architecture for Experiments in Connected and Automated Vehicles},
    journal={IEEE Open Journal of Intelligent Transportation Systems},
    volume={4},
    pages={175-186},
    year={2023},
    doi={https://doi.org/10.1109/OJITS.2023.3250951}
}

Motion planner

The study evaluates distributed trajectory planning algorithms within the CPM Lab, demonstrating coordinated motion planning for multiple vehicles. Please cite the paper Testing distributed trajectory planning in the cyber-physical mobility lab.

M. Kloock, P. Scheffe, and B. Alrifaee, “Testing distributed trajectory planning in the cyber-physical mobility lab,” Automatisierungstechnik, vol. 71, no. 4, pp. 317-325, 2023, doi: 10.1515/auto-2022-0154.

@article{kloock2023distributedtrajectoryplanning,
    author={Kloock, Maximilian and Scheffe, Patrick and Alrifaee, Bassam},
    title={Testing distributed trajectory planning in the cyber-physical mobility lab},
    journal={Automatisierungstechnik},
    volume={71},
    number={4},
    pages={317-325},
    year={2023},
    doi={https://doi.org/10.1515/auto-2022-0154}
}

A benchmark for zero-shot multi-agent reinforcement learning is introduced, assessing algorithms’ ability to generalize to unseen scenarios in the CPM Lab. Please cite the paper Zero-shot MARL benchmark in the Cyber-Physical Mobility Lab.

J. Beerwerth, J. Xu, S. Schäfer, F. Belderink, and B. Alrifaee, “Zero-shot MARL benchmark in the Cyber-Physical Mobility Lab.”

@misc{beerwerth2025zeroshotmarl,
    author={Beerwerth, J. and Xu, J. and Schäfer, S. and Belderink, F. and Alrifaee, B.},
    title={Zero-shot MARL benchmark in the Cyber-Physical Mobility Lab},
    year={2025},
    note={ResearchGate preprint}
}

Educational Applications

CPM Academy is a remote teaching platform that provides hands-on labs for current topics in connected and automated driving. Please cite the paper CPM Academy: A Remote Platform for Teaching Current Topics in Connected and Automated Vehicles.

A. Mokhtarian, L. Hegerath, and B. Alrifaee, “CPM Academy: A Remote Platform for Teaching Current Topics in Connected and Automated Vehicles,” in 62nd IEEE Conference on Decision and Control (CDC), 2023, pp. 8894-8900, doi: 10.1109/CDC49753.2023.10384102.

@inproceedings{mokhtarian2023cpmacademy,
    author={Mokhtarian, Armin and Hegerath, Lucas and Alrifaee, Bassam},
    title={CPM Academy: A Remote Platform for Teaching Current Topics in Connected and Automated Vehicles},
    booktitle={62nd IEEE Conference on Decision and Control (CDC)},
    pages={8894-8900},
    year={2023},
    doi={https://doi.org/10.1109/CDC49753.2023.10384102}
}

The paper surveys educational applications of the CPM Lab, highlighting curricula and lab exercises for control and robotics courses. Please cite the paper Educational Applications of the Cyber-Physical Mobility Lab: A Summary.

S. Schäfer, J. Xu, D. Klüner, A. Mokhtarian, P. Scheffel, and B. Alrifaee, “Educational Applications of the Cyber-Physical Mobility Lab: A Summary,” in 2024 European Control Conference (ECC), 2024, pp. 2666-2671, doi: 10.23919/ECC64448.2024.10591176.

@inproceedings{schaefer2024educationalapplications,
    author={Schäfer, Simon and Xu, Jing and Klüner, David and Mokhtarian, Armin and Scheffel, Patrick and Alrifaee, Bassam},
    title={Educational Applications of the Cyber-Physical Mobility Lab: A Summary},
    booktitle={2024 European Control Conference (ECC)},
    pages={2666-2671},
    year={2024},
    doi={https://doi.org/10.23919/ECC64448.2024.10591176}
}

This article describes remote teaching methods using the CPM Lab to deliver practical labs over the internet. Please cite the paper Remote Teaching with the Cyber-Physical Mobility Lab.

A. Mokhtarian, P. Scheffe, S. Kowalewski, and B. Alrifaee, “Remote Teaching with the Cyber-Physical Mobility Lab,” IFAC-PapersOnLine, vol. 55, no. 17, pp. 386-391, 2022, doi: 10.1016/j.ifacol.2022.09.310.

@article{mokhtarian2022remoteteaching,
    author={Mokhtarian, Armin and Scheffe, Patrick and Kowalewski, Stefan and Alrifaee, Bassam},
    title={Remote Teaching with the Cyber-Physical Mobility Lab},
    journal={IFAC-PapersOnLine},
    volume={55},
    number={17},
    pages={386-391},
    year={2022},
    doi={https://doi.org/10.1016/j.ifacol.2022.09.310}
}

Infrastructure-based localization

A pressure-sensitive surface layer is investigated as a low-cost localization method for vehicle positioning. Please cite the paper Investigating a Pressure Sensitive Surface Layer for Vehicle Localization.

S. Schäfer, H. Steidl, S. Kowalewski, and B. Alrifaee, “Investigating a Pressure Sensitive Surface Layer for Vehicle Localization,” in 2023 IEEE Intelligent Vehicles Symposium (IV), 2023, pp. 1-6, doi: 10.1109/IV55152.2023.10186582.

@inproceedings{schaefer2023pressure,
    author={Schäfer, Simon and Steidl, Hendrik and Kowalewski, Stefan and Alrifaee, Bassam},
    title={Investigating a Pressure Sensitive Surface Layer for Vehicle Localization},
    booktitle={2023 IEEE Intelligent Vehicles Symposium (IV)},
    pages={1-6},
    year={2023},
    doi={https://doi.org/10.1109/IV55152.2023.10186582}
}

Surveys

A comprehensive survey of small-scale testbeds for connected and automated vehicles and robot swarms is presented, offering guidelines for creating new testbeds. Please cite the paper A Survey on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: A Guide for Creating a New Testbed.

A. Mokhtarian, J. Xu, P. Scheffe, M. Kloock, S. Schäfer, H. Bang, V.-A. Le, S. Ulhas, J. Betz, S. Wilson, S. Berman, L. Paull, A. Prorok, and B. Alrifaee, “A Survey on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: A Guide for Creating a New Testbed,” IEEE Robotics & Automation Magazine, pp. 2-19, 2024, doi: 10.1109/MRA.2024.3505772.

@article{mokhtarian2024surveytestbeds,
    author={Mokhtarian, Armin and Xu, Jing and Scheffe, Patrick and Kloock, Maximilian and Schäfer, Simon and Bang, Hyeon and Le, Van-Anh and Ulhas, S. and Betz, Johannes and Wilson, Stephen and Berman, Shai and Paull, Liam and Prorok, Amanda and Alrifaee, Bassam},
    title={A Survey on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: A Guide for Creating a New Testbed},
    journal={IEEE Robotics & Automation Magazine},
    pages={2-19},
    year={2024},
    doi={https://doi.org/10.1109/MRA.2024.3505772}
}

CPM Remote

Warning

CPM Remote is retired (as of 2026). The remote access service is currently unavailable. See the official announcement for details: https://cpm.lrt.unibw.de/remote/.

CPM Remote provides remote access to the CPM Lab hardware, enabling users to run experiments via the cloud. Please cite the paper CPM Remote: A Remote Access to the CPM Lab.

A. Mokhtarian and B. Alrifaee, “CPM Remote: A Remote Access to the CPM Lab,” in 2022 8th International Conference on Control, Decision and Information Technologies (CoDIT), 2022, vol. 1, pp. 1124-1129, doi: 10.1109/CoDIT55151.2022.9804088.

@inproceedings{mokhtarian2022cpmremote,
    author={Mokhtarian, Armin and Alrifaee, Bassam},
    title={CPM Remote: A Remote Access to the CPM Lab},
    booktitle={2022 8th International Conference on Control, Decision and Information Technologies (CoDIT)},
    volume={1},
    pages={1124-1129},
    year={2022},
    doi={https://doi.org/10.1109/CoDIT55151.2022.9804088}
}

CPM Olympics defines benchmark scenarios for evaluating networked and autonomous driving algorithms. Please cite the paper CPM Olympics: Development of Scenarios for Benchmarking in Networked and Autonomous Driving.

A. Mokhtarian, S. Schäfer, and B. Alrifaee, “CPM Olympics: Development of Scenarios for Benchmarking in Networked and Autonomous Driving,” in 2022 IEEE Intelligent Vehicles Symposium (IV), 2022, pp. 9-15, doi: 10.1109/IV51971.2022.9827299.

@inproceedings{mokhtarian2022cpmolympics,
    author={Mokhtarian, Armin and Schäfer, Simon and Alrifaee, Bassam},
    title={CPM Olympics: Development of Scenarios for Benchmarking in Networked and Autonomous Driving},
    booktitle={2022 IEEE Intelligent Vehicles Symposium (IV)},
    pages={9-15},
    year={2022},
    doi={https://doi.org/10.1109/IV51971.2022.9827299}
}