323 citations · 463 across the 10 of their papers we have counts for
11 papers
Probabilistic Collision Risk Estimation through Gauss-Legendre Cubature and Non-Homogeneous Poisson Processes
Trent Weiss, Madhur Behl
Overtaking in high-speed autonomous racing demands precise, real-time estimation of collision risk; particularly in wheel-to-wheel scenarios where safety margins are minimal. Exist…
Vehicle Dynamics Modeling for Autonomous Racing Using Gaussian Processes
Jingyun Ning, Madhur Behl
Autonomous racing is increasingly becoming a proving ground for autonomous vehicle technology at the limits of its current capabilities. The most prominent examples include the F1T…
RACECAR -- The Dataset for High-Speed Autonomous Racing
Amar Kulkarni, John Chrosniak, Emory Ducote +6
This paper describes the first open dataset for full-scale and high-speed autonomous racing. Multi-modal sensor data has been collected from fully autonomous Indy race cars operati…
Teaching Autonomous Systems Hands-On: Leveraging Modular Small-Scale Hardware in the Robotics Classroom
Johannes Betz, Hongrui Zheng, Zirui Zang +8
Although robotics courses are well established in higher education, the courses often focus on theory and sometimes lack the systematic coverage of the techniques involved in devel…
This is the Way: Differential Bayesian Filtering for Agile Trajectory Synthesis
Trent Weiss, Madhur Behl
One of the main challenges in autonomous racing is to design algorithms for motion planning at high speed, and across complex racing courses. End-to-end trajectory synthesis has be…
Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing
Johannes Betz, Hongrui Zheng, Alexander Liniger +5
The rising popularity of self-driving cars has led to the emergence of a new research field in the recent years: Autonomous racing. Researchers are developing software and hardware…
Adaptive Lookahead Pure-Pursuit for Autonomous Racing
Varundev Sukhil, Madhur Behl
This paper presents an adaptive lookahead pure-pursuit lateral controller for optimizing racing metrics such as lap time, average lap speed, and deviation from a reference trajecto…
Towards Automated Safety Coverage and Testing for Autonomous Vehicles with Reinforcement Learning
Hyun Jae Cho, Madhur Behl
The kind of closed-loop verification likely to be required for autonomous vehicle (AV) safety testing is beyond the reach of traditional test methodologies and discrete verificatio…
DeepRacing: Parameterized Trajectories for Autonomous Racing
Trent Weiss, Madhur Behl
We consider the challenging problem of high speed autonomous racing in a realistic Formula One environment. DeepRacing is a novel end-to-end framework, and a virtual testbed for tr…
F1/10: An Open-Source Autonomous Cyber-Physical Platform
Matthew O'Kelly, Varundev Sukhil, Houssam Abbas +8
In 2005 DARPA labeled the realization of viable autonomous vehicles (AVs) a grand challenge; a short time later the idea became a moonshot that could change the automotive industry…
Data-Driven Modeling, Control and Tools for Cyber-Physical Energy Systems
Madhur Behl, Achin Jain, Rahul Mangharam
Demand response (DR) is becoming increasingly important as the volatility on the grid continues to increase. Current DR approaches are completely manual and rule-based or involve d…