12 citations · 12 across the 4 of their papers we have counts for
4 papers · 1 filter
Regulation-Aware Game-Theoretic Motion Planning for Autonomous Racing
Francesco Prignoli, Francesco Borrelli, Paolo Falcone +1
This paper presents a regulation-aware motion planning framework for autonomous racing scenarios. Each agent solves a Regulation-Compliant Model Predictive Control problem, where r…
Priority-Driven Safe Model Predictive Control Approach to Autonomous Driving Applications
Francesco Prignoli, Ying Shuai Quan, Mohammad Jeddi +2
This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (…
Priority-driven Constraints Softening in Safe MPC for Perturbed Systems
Ying Shuai Quan, Mohammad Jeddi, Francesco Prignoli +1
This paper presents a safe model predictive control (SMPC) framework designed to ensure the satisfaction of hard constraints for systems perturbed by an external disturbance. Such…
A Tricycle Model to Accurately Control an Autonomous Racecar with Locked Differential
Ayoub Raji, Nicola Musiu, Alessandro Toschi +7
In this paper, we present a novel formulation to model the effects of a locked differential on the lateral dynamics of an autonomous open-wheel racecar. The model is used in a Mode…