Vehicular platooning experiments with LEGO MINDSTORMS NXT

The paper reports on experimenting with a popular introductory robotics toolkit LEGO® MINDSTORMS® NXT that was aimed at demonstrating a few algorithms for distributed control of a long platoon of autonomous vehicles. The configuration used in this report measures the distance to the vehicle ahead and the velocity of the vehicle itself. The acquired technical experience with this platform is shared in the report, including recommendation towards improvements.