549 citations · 1.5k across the 32 of their papers we have counts for
3 papers · 1 filter
A Non-Cooperative Game Approach to Autonomous Racing
Alexander Liniger, John Lygeros
We consider autonomous racing of two cars and present an approach to formulate racing decisions as a non-cooperative non-zero-sum game. We design three different games where the pl…
Optimization-Based Autonomous Racing of 1:43 Scale RC Cars
Alexander Liniger, Alexander Domahidi, Manfred Morari
This paper describes autonomous racing of RC race cars based on mathematical optimization. Using a dynamical model of the vehicle, control inputs are computed by receding horizon b…
Optimization-Based Collision Avoidance
Xiaojing Zhang, Alexander Liniger, Francesco Borrelli
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimizatio…