6 papers
Safe Overtaking for Autonomous Racing Using Hierarchical Optimization and Learning-Based Control
Hassan Jardali, Kai Yin, Lantao Liu
Autonomous racing overtaking requires balancing competitive performance with safety under nonlinear vehicle dynamics and real-time constraints. Model Predictive Control (MPC) combi…
LPV-MPC for Lateral Control in Full-Scale Autonomous Racing
Hassan Jardali, Ihab S. Mohamed, Durgakant Pushp +1
Autonomous racing has attracted significant attention recently, presenting challenges in selecting an optimal controller that operates within the onboard system's computational lim…
From Zero to High-Speed Racing: An Autonomous Racing Stack
Hassan Jardali, Durgakant Pushp, Youwei Yu +9
High-speed, head-to-head autonomous racing presents substantial technical and logistical challenges, including precise localization, rapid perception, dynamic planning, and real-ti…
Minimalistic Autonomous Stack for High-Speed Time-Trial Racing
Mahmoud Ali, Hassan Jardali, Youwei Yu +2
Autonomous racing has seen significant advancements, driven by competitions such as the Indy Autonomous Challenge (IAC) and the Abu Dhabi Autonomous Racing League (A2RL). However,…
Gaussian Process-based Traversability Analysis for Terrain Mapless Navigation
Abe Leininger, Mahmoud Ali, Hassan Jardali +1
Efficient navigation through uneven terrain remains a challenging endeavor for autonomous robots. We propose a new geometric-based uneven terrain mapless navigation framework combi…
Autonomous Mapless Navigation on Uneven Terrains
Hassan Jardali, Mahmoud Ali, Lantao Liu
We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is tr…