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Cooperative vehicle platooning applications increasingly demand realisticsimulation tools to ease their validation and to bridge the gap betweendevelopment and real-world deployment. However, their complexity and cost oftenhinder its validation in the real world. In this paper, we propose a realisticsimulation framework for vehicular platoons that integrates Gazebo with OMNeT++over Robot Operating System (ROS) to support the simulation of realisticscenarios of autonomous vehicular platoons and their cooperative control.

Towards a Realistic Simulation Framework for Vehicular Platooning Applications