# Demonstration of a Time-Efficient Mobility System Using a Scaled Smart City

## TL;DR

This paper demonstrates a scalable, cost-effective smart city model using robotic CAVs to validate decentralized control frameworks, showing potential improvements in travel time and safety in a controlled environment.

## Contribution

It introduces a scaled city setup with robotic CAVs for practical validation of decentralized control algorithms, reducing costs compared to full-scale testing.

## Key findings

- Decentralized control framework effectively reduces travel time.
- Robotic CAVs enable safe, real-time testing in a scaled environment.
- The approach offers a practical validation method for CAV technologies.

## Abstract

The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework to deliver real-time control actions that optimize travel time, energy, and safety. Hardware is an integral part of any practical implementation of CAVs, and as such, it should be incorporated in any validation method. However, high costs associated with full scale, field testing of CAVs have proven to be a significant barrier. In this paper, we present the implementation of a decentralized control framework, which was developed previously, in a scaled-city using robotic CAVs, and discuss the implications of CAVs on travel time. Supplemental information and videos can be found at https://sites.google.com/view/ud-ids-lab/tfms.