CHARTOPOLIS A Small-Scale Labor-art-ory for Research and Reﬂection on Autonomous Vehicles HumanRobot Interaction and Sociotechnical Imaginaries Sangeet Sankaramangalam Ulhasa Aditya Ravichandera Kathryn A. Johnsonb Theodore P. Pavlicc_2

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CHARTOPOLIS: A Small-Scale Labor-art-ory for Research and Reﬂection on

Autonomous Vehicles, Human–Robot Interaction, and Sociotechnical Imaginaries

Sangeet Sankaramangalam Ulhasa, Aditya Ravichandera, Kathryn A. Johnsonb, Theodore P. Pavlicc,

Lance Gharavid, and Spring Bermana

Abstract— CHARTOPOLIS is a multi-faceted sociotechnical

testbed meant to aid in building connections among engineers,

psychologists, anthropologists, ethicists, and artists. Superﬁ-

cially, it is an urban autonomous-vehicle testbed that includes

both a physical environment for small-scale robotic vehicles as

well as a high-ﬁdelity virtual replica that provides extra ﬂexibil-

ity by way of computer simulation. However, both environments

have been developed to allow for participatory simulation with

human drivers as well. Each physical vehicle can be remotely

operated by human drivers that have a driver-seat point of

view that immerses them within the small-scale testbed, and

those same drivers can also pilot high-ﬁdelity models of those

vehicles in a virtual replica of the environment. Juxtaposing

human driving performance across these two contexts will

help identify to what extent human driving behaviors are

sensorimotor responses or involve psychological engagement

with a system that has physical, not virtual, side effects and

consequences. Furthermore, through collaboration with artists,

we have designed the physical testbed to make tangible the

reality that technological advancement causes the history of

a city to fork into multiple, parallel timelines that take place

within populations whose increasing isolation effectively creates

multiple independent cities in one. Ultimately, CHARTOPOLIS

is meant to challenge engineers to take a more holistic view

when designing autonomous systems, while also enabling them

to gather novel data that will assist them in making these

systems more trustworthy.

I. INTRODUCTION

We are developing CHARTOPOLIS, a small-scale trafﬁc

testbed that serves as a research laboratory, an art installation,

and a boundary object [1] that is intended to increase inte-

gration between engineering, psychology, anthropology, and

ethical philosophy. This mind–machine–motor nexus (M3X)1

“labor-art-ory” consists of a model physical driving environ-

ment with small robotic vehicles (Fig. 1), a driving station for

remote control of the vehicles by human participants (Fig. 3),

and a driving simulator that serves as a high-ﬁdelity, virtual

replica of the physical environment (Fig. 4).

This work was supported by NSF EAGER Award #2146691 and the ASU

Center for Human, Artiﬁcial Intelligence, and Robot Teaming (CHART).

All authors are with Arizona State University (ASU), Tempe, AZ 85287.

aS. S. Ulhas, A. Ravichander, and S. Berman are with

the ASU School for Engineering of Matter, Transport and

Energy {sulhas,aravic22,spring.berman}@asu.edu

bK. A. Johnson is with the ASU Department of Psychol-

ogy kathryn.a.johnson@asu.edu

cT. P. Pavlic is with the ASU School of Computing and Augmented

Intelligence, the School of Sustainability, and the School of Complex

Adaptive Systems tpavlic@asu.edu

dL. Gharavi is with the ASU School of Music, Dance and The-

atre lance.gharavi@asu.edu

1NSF M3X program: https://beta.nsf.gov/funding/opportunities/mind-

machine-and-motor-nexus-m3x

Fig. 1: CHARTOPOLIS, a reconﬁgurable, modular testbed

for urban autonomous-vehicle research.

In contrast to existing small-scale self-driving car testbeds,

e.g. [2]–[8], CHARTOPOLIS is speciﬁcally designed to

facilitate participatory studies of human sensorimotor, behav-

ioral, cognitive, and aesthetic responses to diverse driving

scenarios with the goal of enriching autonomous vehicles

with human-like behavioral proﬁles. Its matching virtual and

physical environments will enable safe, controlled experi-

mental manipulation of both typical driving conditions and

unavoidable accidents that would be difﬁcult or hazardous to

replicate with full-scale vehicles. Furthermore, by comparing

and contrasting human driving performance in the physical

testbed to performance in the high-ﬁdelity simulator, we

can identify commonalities among human behaviors across

the two participatory platforms (i.e., the physical testbed

and virtual replica) that are likely to extend to hypothetical

behaviors in full-scale vehicles. Thus, this comparative ap-

proach aims to elucidate the underlying problems resulting in

the Sim2Real gap rather than attempting to ﬁnd costly and

risk-prone stopgap solutions to them, e.g., [9], [10]. More

generally, juxtaposing the physical and virtual environments

enables us to investigate the minimal set of features (e.g.,

sensory stimuli, dynamical characteristics, psychological as-

sociation with outcomes in physical space) required for a

participatory driving testbed to effectively engage a human

operator in as realistic of a driving experience as possible.

Finally, CHARTOPOLIS doubles as an art installation that

makes a statement about the effect of technology and auton-

arXiv:2210.00377v1 [cs.RO] 1 Oct 2022

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CHARTOPOLIS:ASmall-ScaleLabor-art-oryforResearchandReectiononAutonomousVehicles,HumanRobotInteraction,andSociotechnicalImaginariesSangeetSankaramangalamUlhasa,AdityaRavichandera,KathrynA.Johnsonb,TheodoreP.Pavlicc,LanceGharavid,andSpringBermanaAbstractCHARTOPOLISisamulti-facetedsociotechnicaltest...

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CHARTOPOLIS A Small-Scale Labor-art-ory for Research and Reﬂection on Autonomous Vehicles HumanRobot Interaction and Sociotechnical Imaginaries Sangeet Sankaramangalam Ulhasa Aditya Ravichandera Kathryn A. Johnsonb Theodore P. Pavlicc_2

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