An articulated vehicle assembly comprising a master vehicle having a master steering system and an onboard sensor arrangement configured to monitor at least said master steering system; a slave vehicle having a slave steering system and an onboard actuator arrangement configured to manipulate at least said slave steering system; an articulation system for articulating in a queue the master and the slave vehicles along a common longitudinal axis, the articulation system being configured to at least partially constrain all translational DOF of the vehicles relative to each other, and at least partially constrain a yaw rotational movement of one of the vehicles with respect to the other on a horizontal plane containing said longitudinal axis; and a control system consists of the onboard sensor arrangement, the onboard actuator arrangement and a processing unit configured to receive input signals from said onboard sensor arrangement, and produce corresponding output signals to the onboard actuator arrangement to manipulate said slave steering system so as to maintain said master vehicle and the slave vehicle aligned along said common longitudinal axis, at least when said master vehicle performs a turn on said horizontal plane.