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KTH, School of Electrical Engineering, Automatic Control. The simulations are created using Simulink, the position and orientation data of each vehicle is stored in .txt files using MATLAB. 3D Visualization Engine, used to reproduce simulations and recorded experiments: the position and orientation data of each vehicle is loaded from the corresponding text file. The text files are produced using Simulink, Qualisys, etc. Stockholm, Sweden 2012.