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In automotive R&D projects a major part of development cost is caused by tests which utilize expensive experimental vehicles. In this paper, we introduce an approach for scheduling the individual tests such that the number of required experimental vehicles is minimized. The proposed approach is based on a new type of multi-mode resource-constrained project scheduling model with minimum and maximum time lags as well as renewable and cumulative resources. We propose a MILP formulation, which is solvable for small problem instances, as well as several variants of a priority-rule based method that serve to solve large problem instances. The developed solution methods are examined in a comprehensive computational study. For a real-world problem instance it is shown that the introduced approach may enhance the current methods applied in practice.