8 papers
Talk to Me, Jarvis: An Open-Source Edge-Deployable Voice Assistant Framework for Autonomous Racecars
Daniel Henel, Frederik Werner, Alexander Langmann +1
Recent advances in large language models have improved their effectiveness as back-end components for voice assistants, particularly in intent understanding and context-aware input…
Control-Informed Constraint Adaptation in Minimum-Time Trajectory Planning for Autonomous Racing
Ann-Kathrin Schwehn, Alexander Langmann, Mattia Piccinini +1
Autonomous racecars operate at the limits of vehicle dynamics, where small control errors translate into safety-critical behavior and lost performance. Trajectory planners assume p…
Drifting in the Future: Stabilizing Path Following Drifting on High-Latency Vehicle Systems
Frederik Werner, Till Heintzenberg, Markus Lienkamp +1
Autonomously controlling and handling a vehicle at and beyond its stability limit is a mathematically and computationally demanding task. Prior demonstrations of automated drifting…
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…
Driving is a Game: Combining Planning and Prediction with Bayesian Iterative Best Response
Aron Distelzweig, Yiwei Wang, Faris Janjoš +5
Autonomous driving planning systems perform nearly perfectly in routine scenarios using lightweight, rule-based methods but still struggle in dense urban traffic, where lane change…
Online Velocity Profile Generation and Tracking for Sampling-Based Local Planning Algorithms in Autonomous Racing Environments
Alexander Langmann, Levent Ögretmen, Frederik Werner +1
This work presents an online velocity planner for autonomous racing that adapts to changing dynamic constraints, such as grip variations from tire temperature changes and rubber ac…