# A Fleet of Miniature Cars for Experiments in Cooperative Driving

arXiv: https://arxiv.org/abs/1902.06133 · HTML: https://mlsanity.com/paper/1902.06133/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Feb 2019.

## Built on by (most cited first, 10 of 10)

- [Mind the Gap! A Study on the Transferability of Virtual vs Physical-world Testing of Autonomous Driving Systems](https://mlsanity.com/paper/2112.11255/) (2021)
- [QGNN: Value Function Factorisation with Graph Neural Networks](https://mlsanity.com/paper/2205.13005/) (2022)
- [Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems](https://mlsanity.com/paper/2109.12343/) (2021)
- [Autonomous Driving Small-Scale Cars: A Survey of Recent Development](https://mlsanity.com/paper/2404.06229/) (2024)
- [Design and Realization of a Benchmarking Testbed for Evaluating Autonomous Platooning Algorithms](https://mlsanity.com/paper/2402.09233/) (2024)
- [A Distributed Approach to Autonomous Intersection Management via Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2405.08655/) (2024)
- [Reinforcement Learning for Freeway Lane-Change Regulation via Connected Vehicles](https://mlsanity.com/paper/2412.04341/) (2024)
- [Vehicle-road Cooperative Simulation and 3D Visualization System](https://mlsanity.com/paper/2208.07304/) (2022)
- [Robust and Safe Multi-Agent Reinforcement Learning with Communication for Autonomous Vehicles: From Simulation to Hardware](https://mlsanity.com/paper/2506.00982/) (2025)
- [A Low-Cost, Open Platform for End-to-End Autonomous Driving on a Miniature Ackermann Vehicle](https://mlsanity.com/paper/2609.04147/) (2026)

## Abstract (arXiv)

We introduce a unique experimental testbed that consists of a fleet of 16 miniature Ackermann-steering vehicles. We are motivated by a lack of available low-cost platforms to support research and education in multi-car navigation and trajectory planning. This article elaborates the design of our miniature robotic car, the Cambridge Minicar, as well as the fleet's control architecture. Our experimental testbed allows us to implement state-of-the-art driver models as well as autonomous control strategies, and test their validity in a real, physical multi-lane setup. Through experiments on our miniature highway, we are able to tangibly demonstrate the benefits of cooperative driving on multi-lane road topographies. Our setup paves the way for indoor large-fleet experimental research.