@article{xu2026smallscale,
 author = {Xu, Jianye and Betz, Johannes and Mokhtarian, Armin and Mittal, Archak and Cai, Mengchi and Mangharam, Rahul and Shehata, Omar M. and Elias, Catherine M. and Zaech, Jan-Nico and Scheffe, Patrick and Jahncke, Felix and Ulhas, Sangeet Sankaramangalam and Arfvidsson, Kaj Munhoz and Alrifaee, Bassam},
 doi = {10.1109/MITS.2026.3666681},
 journal = {IEEE Intelligent Transportation Systems Magazine},
 pages = {2--16},
 title = {Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap},
 year = {2026}
}