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Platooning experiments with Lego Mindstorms robotic vehicles

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Published on Nov 10, 2010

A short video documenting some experiments with a multivehicle platoon
built from components of the popular Lego Mindstorms set. The whole
platoon is commanded to travel along a line. Each vehicle runs its own
local copy of a feedback controller, processing the measurements from
the ultrasonic proximity sensor (the built- in velocity controller is
relied upon). The motivation for these experiments was to confirm some
well-known facts from the platooning theory, about (in)stability of
certain feedback configurations, that is, propagation of the influence
of references and disturbances downstream was studied as well response
of the system to commanded change or distance between the vehicles.
Another motivation was.... to have some fun...:-)

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