4 papers
RAGE-XY: RADAR-Aided Longitudinal and Lateral Forces Estimation For Autonomous Race Cars
Davide Malvezzi, Nicola Musiu, Eugenio Mascaro +2
In this work, we present RAGE-XY, an extended version of RAGE, a real-time estimation framework that simultaneously infers vehicle velocity, tire slip angles, and the forces acting…
RAGE: A Tightly Coupled Radar-Aided Grip Estimator For Autonomous Race Cars
Davide Malvezzi, Nicola Musiu, Eugenio Mascaro +2
Real-time estimation of vehicle-tire-road friction is critical for allowing autonomous race cars to safely and effectively operate at their physical limits. Traditional approaches…
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…