9 papers · 1 filter
High-Fidelity Multi-Body Simulator for Autonomous Racing
Nicola Musiu, Francesco Iacovacci, Fausto Lupo +11
We present a custom high-fidelity vehicle dynamics simulation environment for testing and validation of Autonomous Racing software. The digital twin of the autonomous vehicle is de…
Driving Context-guided Model Predictive Planning and Control for Autonomous Car Racing at the Limit and Beyond
Ayoub Raji, Federico Sacco, Nicola Musiu +1
This paper presents a Model Predictive Control-based motion planning and control pipeline for autonomous car racing capable of adapting to different driving contexts, such as overt…
Mission Performance: Automatic and Adaptive Race Pace Progression for Autonomous Racing
Giovanni Lambertini, Matteo Pini, Nicola Musiu +3
In this paper, we describe the Mission Performance module implemented for a fully autonomous racing car to automatically manage the longitudinal, lateral, and combined performances…
A Multi-Modal Perception Pipeline for Object Detection and Tracking in Autonomous Racing
Davide Malvezzi, Michele Pestarino, Vittoria Cavicchioli +9
Object detection and tracking are fundamental components of perception systems for autonomous driving. Achieving robust performance under adverse conditions such as limited visibil…
Fast and Realistic Automated Scenario Simulations and Reporting for an Autonomous Racing Stack
Giovanni Lambertini, Matteo Pini, Eugenio Mascaro +3
In this paper, we describe the automated simulation and reporting pipeline implemented for our autonomous racing stack, ur.autopilot. The backbone of the simulation is based on a h…
BETTY Dataset: A Multi-modal Dataset for Full-Stack Autonomy
Micah Nye, Ayoub Raji, Andrew Saba +9
We present the BETTY dataset, a large-scale, multi-modal dataset collected on several autonomous racing vehicles, targeting supervised and self-supervised state estimation, dynamic…