4 papers · 1 filter
Benchmarking Empirical and Learning-Based Approaches for Feedforward Steering Control in Autonomous Racing
Georg Jank, Mattia Piccinini, Sebastian Wenk +3
Feedforward steering control is a key component of hierarchical control architectures for autonomous racing. The goal is to reduce steering corrections from the feedback controller…
Head-to-Head autonomous racing at the limits of handling in the A2RL challenge
Simon Hoffmann, Simon Sagmeister, Tobias Betz +17
Autonomous racing presents a complex challenge involving multi-agent interactions between vehicles operating at the limit of performance and dynamics. As such, it provides a valuab…
Model-Structured Neural Networks to Control the Steering Dynamics of Autonomous Race Cars
Mattia Piccinini, Aniello Mungiello, Georg Jank +3
Autonomous racing has gained increasing attention in recent years, as a safe environment to accelerate the development of motion planning and control methods for autonomous driving…
Hierarchical Time-Optimal Planning for Multi-Vehicle Racing
Georg Jank, Matthias Rowold, Boris Lohmann
This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level o…