4 papers
Parsimonious disturbance-aware minimum-time planning with parametric uncertainty
Martino Gulisano, Matteo Masoni, Marco Gabiccini
This study presents and validates a minimum-lap-time planning (MLTP) framework for motorsport applications that embeds robustness against both state disturbances and parameter unce…
Global stability of vehicle-with-driver dynamics via Sum-of-Squares programming
Martino Gulisano, Marco Gabiccini
This work estimates safe invariant subsets of the Region of Attraction (ROA) for a seven-state vehicle-with-driver system, capturing both asymptotic stability and the influence of…
On Disturbance-Aware Minimum-Time Trajectory Planning: Evidence from Tests on a Dynamic Driving Simulator
Matteo Masoni, Vincenzo Palermo, Marco Gabiccini +6
This work investigates how disturbance-aware, robustness-embedded reference trajectories translate into driving performance when executed by professional drivers in a dynamic simul…
Disturbance-aware minimum-time planning strategies for motorsport vehicles with probabilistic safety certificates
Martino Gulisano, Matteo Masoni, Marco Gabiccini +1
This paper presents a disturbance-aware framework that embeds robustness into minimum-lap-time trajectory optimization for motorsport. Two formulations are introduced. (i) Open-loo…