---
abstract: '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.'
author:
- 'Nicholas Hyldmar$^*$, Yijun He$^*$, Amanda Prorok[^1]'
title: A Fleet of Miniature Cars for Experiments in Cooperative Driving
---

[^1]: All authors are with the University of Cambridge, UK: [{nh490, yh403, asp45}@cam.ac.uk]{}. $^*$These authors contributed equally to this work. We gratefully acknowledge the Isaac Newton Trust who are supporting Amanda Prorok through an Early Career Grant.
