A modular transportation system comprising: a first module to transport a first payload; a second module to transport a second payload, where the second module is virtually coupled to the first module, wherein the first module is a lead module and comprises a driver's cab, and the second module is a driverless follower module without a driver's cab; a virtual coupling controller to determine a target orientation of the second module relative to the first module, and position the second module in the target orientation, where the target orientation is based on one or more of a velocity of the first module, an acceleration of the first module, a vector between the first module and the second module, and a rate of change of the vector between the first module and the second module; a first position detection device to transmit a first position of the first module to the virtual coupling controller, where the virtual coupling controller determines an actual orientation of the second module relative to the first module, based on the first position, where the first position is relative to a second position of the second module; a first motor to move the second module based on a first control signal output from the virtual coupling controller, where the virtual coupling controller determines the first control signal based on a difference between the target orientation and the actual orientation; and a second motor to move the second module, where the difference is an error vector comprising a first dimension and a second dimension, the virtual coupling controller outputs a second control signal to the second motor, the first control signal is based on a magnitude of the error vector in the first dimension, and the second control signal is based on the magnitude of the error vector in the second dimension. a first module to transport a first payload; a second module to transport a second payload, where the second module is virtually coupled to the first module, wherein the first module is a lead module and comprises a driver's cab, and the second module is a driverless follower module without a driver's cab; a virtual coupling controller to determine a target orientation of the second module relative to the first module, and position the second module in the target orientation, where the target orientation is based on one or more of a velocity of the first module, an acceleration of the first module, a vector between the first module and the second module, and a rate of change of the vector between the first module and the second module; a first position detection device to transmit a first position of the first module to the virtual coupling controller, where the virtual coupling controller determines an actual orientation of the second module relative to the first module, based on the first position, where the first position is relative to a second position of the second module; a first motor to move the second module based on a first control signal output from the virtual coupling controller, where the virtual coupling controller determines the first control signal based on a difference between the target orientation and the actual orientation; and a second motor to move the second module, where the difference is an error vector comprising a first dimension and a second dimension, the virtual coupling controller outputs a second control signal to the second motor, the first control signal is based on a magnitude of the error vector in the first dimension, and the second control signal is based on the magnitude of the error vector in the second dimension. <EOS>