Literature

If you use the CPM Labs in your work 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}
}

If you use the CPM Labs’s IPS module in your work 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}
}

If you use the CPM Labs’s small-scale vehicles in your work 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}
}

If you use the SigmaRL zero-shot MARL benchmark in your work 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,” at - Automatisierungstechnik, vol. 74, no. 5, pp. 376-385, 2026, doi: 10.1515/auto-2025-0057.

@article{beerwerth2026zeroshot,
    title={Zero-Shot MARL Benchmark in the Cyber-Physical Mobility Lab},
    author={Beerwerth, Julius and Xu, Jianye and Sch{\"a}fer, Simon and Belderink, Fynn and Alrifaee, Bassam},
    year={2026},
    journal={at - Automatisierungstechnik},
    volume={74},
    number={5},
    pages={376--385},
    publisher={De Gruyter},
    doi={10.1515/auto-2025-0057}
}