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cs.RO2024
Euclidean and non-Euclidean Trajectory Optimization Approaches for Quadrotor Racing
Thomas Fork, Francesco Borrelli
We present two quadrotor raceline optimization approaches which differ in using Euclidean or non-Euclidean geometry to describe vehicle position. Both approaches use high-fidelity…
cs.RO2024
A General 3D Road Model for Motorcycle Racing
Thomas Fork, Francesco Borrelli
We present a novel control-oriented motorcycle model and use it for computing racing lines on a nonplanar racetrack. The proposed model combines recent advances in nonplanar road m…
cs.RO2024
Predictive Braking on a Nonplanar Road
Thomas Fork, Francesco Camozzi, Xiao-Yu Fu +1
We present an approach for predictive braking of a four-wheeled vehicle on a nonplanar road. Our main contribution is a methodology to consider friction and road contact safety on…