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This paper introduces our Cyber-Physical Mobility Lab (CPM Lab). It is anopen-source development environment for networked and autonomous vehicles withfocus on networked decision-making, trajectory planning, and control. The CPMLab hosts 20 physical model-scale vehicles ({\mu}Cars) which we can seamlesslyextend by unlimited simulated vehicles. The code and construction plans arepublicly available to enable rebuilding the CPM Lab.  Our four-layered architecture enables the seamless use of the same softwarein simulations and in experiments without any further adaptions. A DataDistribution Service (DDS) based middleware allows adapting the number ofvehicles during experiments in a seamless manner. The middleware is alsoresponsible for synchronizing all entities following a logical execution timeapproach to achieve determinism and reproducibility of experiments. Thisapproach makes the CPM Lab a unique platform for rapid functional prototypingof networked decision-making algorithms.  The CPM Lab allows researchers as well as students from different disciplinesto see their ideas developing into reality. We demonstrate its capabilitiesusing two example experiments. We are working on a remote access to the CPM Labvia a webinterface.

Cyber-Physical Mobility Lab: An Open-Source Platform for Networked and Autonomous Vehicles