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This article explores the idea of mobile nodes using vehicles on wheels, augmented with wireless, sensing, and control capabilities. One of the vehicles acts as a<jats:italic>leader<\/jats:italic>, being remotely driven by the user, the others represent the<jats:italic>followers<\/jats:italic>. Each vehicle has a low-power wireless sensor node attached, featuring a 3D accelerometer and a magnetic compass. Speed and orientation are computed in real time using inertial navigation techniques. The leader periodically transmits these measures to the followers, which implement a lightweight fuzzy logic controller for imitating the leader's movement pattern. We report in detail on all development phases, covering design, simulation, controller tuning, inertial sensor evaluation, calibration, scheduling, fixed-point computation, debugging, benchmarking, field experiments, and lessons learned.<\/jats:p>","DOI":"10.1145\/1867713.1867714","type":"journal-article","created":{"date-parts":[[2010,11,23]],"date-time":"2010-11-23T15:00:38Z","timestamp":1290524438000},"page":"1-29","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":4,"title":["Autonomous vehicle coordination with wireless sensor and actuator networks"],"prefix":"10.1145","volume":"5","author":[{"given":"Mihai","family":"Marin-Perianu","sequence":"first","affiliation":[{"name":"University of Twente, Enschede, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stephan","family":"Bosch","sequence":"additional","affiliation":[{"name":"University of Twente, Enschede, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Raluca","family":"Marin-Perianu","sequence":"additional","affiliation":[{"name":"University of Twente, Enschede, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hans","family":"Scholten","sequence":"additional","affiliation":[{"name":"University of Twente, Enschede, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Paul","family":"Havinga","sequence":"additional","affiliation":[{"name":"University of Twente, Enschede, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2010,11,19]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2004.04.003"},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/1322263.1322275"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/70.736776"},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/MP.2006.1635021"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.839232"},{"key":"e_1_2_1_6_1","first-page":"34","article-title":"A new perspective on magnetic field sensing","volume":"15","author":"Caruso M.","year":"1998","unstructured":"Caruso , M. , Bratland , T. , Smith , C. , and Schneider , R. 1998 . 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