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H. M. Sabbir Ahmad, Ehsan Sabouni, Emrullah Celik, Zean Wan, Damola Ajeyemi, Christos G. Cassandras, Wenchao Li
We propose a mixed-reality, hardware-in-the-loop (HIL) testbed for autonomous vehicles that seamlessly integrates a physical testbed of mobile robots with a high-fidelity simulation environment. The virtual simulation enables the creation of diverse, safety-critical driving scenarios to validate state-of-the-art perception, planning, and control algorithms, while augmenting simulations with physical robots equipped with multimodal sensors in photorealistic virtual environments further facilitating rigorous validation. Our testbed also features vehicular connectivity using wireless communication and can accommodate a large number of agents through the combination of physical robots and virtual simulated agents, supporting research on multi-agent systems including Connected and Autonomous Vehicles (CAVs). Finally, we present a safety-guaranteed framework combining perception, planning and a novel online learning-based controller using Control Barrier Functions (CBFs) for CAVs. Experiments using the proposed framework are used to validate and demonstrate the key functionalities and the overall utility of the testbed to bridge the gap between simulation and real-world hardware deployment.
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@article{ahmad2026mixed,
title = {A Mixed-Reality Testbed for Autonomous Vehicles},
author = {H. M. Sabbir Ahmad and Ehsan Sabouni and Emrullah Celik and Zean Wan and Damola Ajeyemi and Christos G. Cassandras and Wenchao Li},
year = {2026},
abstract = {We propose a mixed-reality, hardware-in-the-loop (HIL) testbed for autonomous vehicles that seamlessly integrates a physical testbed of mobile robots with a high-fidelity simulation environment. The virtual simulation enables the creation of diverse, safety-critical driving scenarios to validate state-of-the-art perception, planning, and control algorithms, while augmenting simulations with physical robots equipped with multimodal sensors in photorealistic virtual environments further facilitati},
url = {https://arxiv.org/abs/2606.19267},
keywords = {cs.RO, eess.SY},
eprint = {2606.19267},
archiveprefix = {arXiv},
}
{}