You could use 3x LiPo batteries - you can get some quite small ones, but I guess you'd be looking at 50-100mAh of capacity for each to get anything that'd go in one of the cars. I wonder if it'd be enough...
For a source of them, I did see some reasonably small ones in disposable e-cigarettes, but they're still not exactly tiny! https://www.youtube.com/watch?v=P4IVNvcrUCk
Maybe a supercapacitor would be good enough to at least smooth out very uneven voltage from the rails?
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