3 papers
cs.RO2025
Residual Koopman Model Predictive Control for Enhanced Vehicle Dynamics with Small On-Track Data Input
Yonghao Fu, Cheng Hu, Haokun Xiong +6
In vehicle trajectory tracking tasks, the simplest approach is the Pure Pursuit (PP) Control. However, this single-point preview tracking strategy fails to consider vehicle model c…
cs.RO2025
FSDP: Fast and Safe Data-Driven Overtaking Trajectory Planning for Head-to-Head Autonomous Racing Competitions
Cheng Hu, Jihao Huang, Wule Mao +7
Generating overtaking trajectories in autonomous racing is a challenging task, as the trajectory must satisfy the vehicle's dynamics and ensure safety and real-time performance run…
cs.RO2024
Learning to Drift in Extreme Turning with Active Exploration and Gaussian Process Based MPC
Guoqiang Wu, Cheng Hu, Wangjia Weng +4
Extreme cornering in racing often leads to large sideslip angles, presenting a significant challenge for vehicle control. Conventional vehicle controllers struggle to manage this s…