9 papers · 1 filter
Beyond the Plane: Coupling Planar Vehicle Dynamics with Three-Dimensional Road Geometry
Simon Sagmeister, Phillip Pitschi, Nico Haja +1
Simulation is crucial for developing and testing autonomous driving systems. In particular, the development of localization and control algorithms relies on an accurate vehicle dyn…
Drifting in the Future: Stabilizing Path Following Drifting on High-Latency Vehicle Systems
Frederik Werner, Till Heintzenberg, Markus Lienkamp +1
Autonomously controlling and handling a vehicle at and beyond its stability limit is a mathematically and computationally demanding task. Prior demonstrations of automated drifting…
SPARK: Low Latency Single-Camera 3D Pose Estimation for Autonomous Racing using Keypoints
Dominic Ebner, Markus Lienkamp
In autonomous racing, fast detection of other participants' movements is required to plan safe, collision-free trajectories with non-cooperative opponents. LiDAR detection is inher…
FAR-LIO: Enabling High-Speed Autonomy through Fast, Accurate, and Robust LiDAR-Inertial Odometry
Maximilian Leitenstern, Marcel Weinmann, Patrick Haft +3
Robust and accurate odometry estimation is essential in modern robotics. In environments characterized by highly dynamic motion and sensor noise, odometry estimation becomes increa…
RSLCPP -- Deterministic Simulations Using ROS 2
Simon Sagmeister, Marcel Weinmann, Phillip Pitschi +1
Simulation is crucial in real-world robotics, offering safe, scalable, and efficient environments for developing a variety of robotic applications. While the Robot Operating System…
Head-to-Head autonomous racing at the limits of handling in the A2RL challenge
Simon Hoffmann, Simon Sagmeister, Tobias Betz +17
Autonomous racing presents a complex challenge involving multi-agent interactions between vehicles operating at the limit of performance and dynamics. As such, it provides a valuab…