A system for guiding an articulated vehicle having at least a first section and a second section connected at a first articulation point, the system comprising: at least a first sensor positioned separately from the vehicle having a field of view sufficiently wide to include the vehicle in a current position and a target position and adapted to detect at least the position and a relative angle of the first and second sections and generate therefrom sensor information; a computing system adapted to receive the sensor information from the at least first sensor and to process the sensor information for a pose-determining algorithm to determine current pose information of the vehicle, the computing system being adapted to determine a target pose and a target trajectory by which the vehicle can move from the current pose to the target pose, and further to process the current pose information for a guidance-determining algorithm to determine a guidance command for the vehicle to guide the vehicle on the target trajectory; and a communication device adapted to transmit the guidance command to the vehicle, characterized in that the computing system is positioned separately from the vehicle and the communication device comprises a wireless transmitter positioned separately from the vehicle and adapted to communicate with a wireless receiver on the vehicle, wherein said pose-determining algorithm is configured to determine a vehicle pose of the articulated vehicle based on the relative positions of three fiducial markers located on the articulated vehicle, wherein said relative positions of the fiducial markers are determined as the articulated vehicle and, thus the fiducial markers, move across an environment in a manner that allows the determination of said vehicle pose from the at least one sensor. at least a first sensor positioned separately from the vehicle having a field of view sufficiently wide to include the vehicle in a current position and a target position and adapted to detect at least the position and a relative angle of the first and second sections and generate therefrom sensor information; a computing system adapted to receive the sensor information from the at least first sensor and to process the sensor information for a pose-determining algorithm to determine current pose information of the vehicle, the computing system being adapted to determine a target pose and a target trajectory by which the vehicle can move from the current pose to the target pose, and further to process the current pose information for a guidance-determining algorithm to determine a guidance command for the vehicle to guide the vehicle on the target trajectory; and a communication device adapted to transmit the guidance command to the vehicle, characterized in that the computing system is positioned separately from the vehicle and the communication device comprises a wireless transmitter positioned separately from the vehicle and adapted to communicate with a wireless receiver on the vehicle, wherein said pose-determining algorithm is configured to determine a vehicle pose of the articulated vehicle based on the relative positions of three fiducial markers located on the articulated vehicle, wherein said relative positions of the fiducial markers are determined as the articulated vehicle and, thus the fiducial markers, move across an environment in a manner that allows the determination of said vehicle pose from the at least one sensor. <EOS>