  Indoor autonomous driving testbeds have emerged to complement expensive
outdoor testbeds and virtual simulations, offering scalable and cost-effective
solutions for research in navigation, traffic optimization, and swarm
intelligence. However, they often lack the robust sensing and computing
infrastructure for advanced research. Addressing these limitations, we
introduce the Indoor Connected Autonomous Testbed (ICAT), a platform that not
only tackles the unique challenges of indoor autonomous driving but also
innovates vehicle computing and V2X communication. Moreover, ICAT leverages
digital twins through CARLA and SUMO simulations, facilitating both centralized
and decentralized autonomy deployments.
