4 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…
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…