Embedding real vehicles in SUMO for large-scale ITS scenario emulation

We present a platform for embedding, in real-time, real vehicles into SUMO (Simulation of Urban MObility). The purpose of the platform is to provide a half-way mark between emulating large-scale traffic scenarios purely with simulators, and demonstrating prototype technologies in the real world with small fleets of field-test vehicles, in the pursuit of evaluating experimental large-scale intelligent transportation systems (ITS).