35 citations · 67 across the 6 of their papers we have counts for
10 papers
High-Fidelity Multi-Body Simulator for Autonomous Racing
Nicola Musiu, Francesco Iacovacci, Fausto Lupo +11
We present a custom high-fidelity vehicle dynamics simulation environment for testing and validation of Autonomous Racing software. The digital twin of the autonomous vehicle is de…
Driving Context-guided Model Predictive Planning and Control for Autonomous Car Racing at the Limit and Beyond
Ayoub Raji, Federico Sacco, Nicola Musiu +1
This paper presents a Model Predictive Control-based motion planning and control pipeline for autonomous car racing capable of adapting to different driving contexts, such as overt…
Mission Performance: Automatic and Adaptive Race Pace Progression for Autonomous Racing
Giovanni Lambertini, Matteo Pini, Nicola Musiu +3
In this paper, we describe the Mission Performance module implemented for a fully autonomous racing car to automatically manage the longitudinal, lateral, and combined performances…
RAGE-XY: RADAR-Aided Longitudinal and Lateral Forces Estimation For Autonomous Race Cars
Davide Malvezzi, Nicola Musiu, Eugenio Mascaro +2
In this work, we present RAGE-XY, an extended version of RAGE, a real-time estimation framework that simultaneously infers vehicle velocity, tire slip angles, and the forces acting…
RAGE: A Tightly Coupled Radar-Aided Grip Estimator For Autonomous Race Cars
Davide Malvezzi, Nicola Musiu, Eugenio Mascaro +2
Real-time estimation of vehicle-tire-road friction is critical for allowing autonomous race cars to safely and effectively operate at their physical limits. Traditional approaches…
A Simulation Benchmark for Autonomous Racing with Large-Scale Human Data
Adrian Remonda, Nicklas Hansen, Ayoub Raji +4
Despite the availability of international prize-money competitions, scaled vehicles, and simulation environments, research on autonomous racing and the control of sports cars opera…
Guess the Drift with LOP-UKF: LiDAR Odometry and Pacejka Model for Real-Time Racecar Sideslip Estimation
Alessandro Toschi, Nicola Musiu, Francesco Gatti +4
The sideslip angle, crucial for vehicle safety and stability, is determined using both longitudinal and lateral velocities. However, measuring the lateral component often necessita…
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…
er.autopilot 1.0: The Full Autonomous Stack for Oval Racing at High Speeds
Ayoub Raji, Danilo Caporale, Francesco Gatti +15
The Indy Autonomous Challenge (IAC) brought together for the first time in history nine autonomous racing teams competing at unprecedented speed and in head-to-head scenario, using…
Motion Planning and Control for Multi Vehicle Autonomous Racing at High Speeds
Ayoub Raji, Alexander Liniger, Andrea Giove +6
This paper presents a multi-layer motion planning and control architecture for autonomous racing, capable of avoiding static obstacles, performing active overtakes, and reaching ve…