549 citations · 1.5k across the 32 of their papers we have counts for
5 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…
Cautious NMPC with Gaussian Process Dynamics for Autonomous Miniature Race Cars
Lukas Hewing, Alexander Liniger, Melanie N. Zeilinger
This paper presents an adaptive high performance control method for autonomous miniature race cars. Racing dynamics are notoriously hard to model from first principles, which is ad…
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…
Real-Time Control for Autonomous Racing Based on Viability Theory
Alexander Liniger, John Lygeros
In this paper we consider autonomous driving of miniature race cars. The viability kernel is used to efficiently generate finite look-ahead trajectories that maximize progress whil…