Development of a Research Testbed for Cooperative Driving in Mixed Traffic of Human-driven and Autonomous Vehicles - Jiaxing Lu; Ryan Stracener; Weihua Sheng; He Bai; Sanzida Hossain (IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, 2022)