3 papers
cs.RO2026
Dynamic Lookahead Distance via Reinforcement Learning-Based Pure Pursuit for Autonomous Racing
Mohamed Elgouhary, Amr S. El-Wakeel
Pure Pursuit (PP) is a widely used path-tracking algorithm in autonomous vehicles due to its simplicity and real-time performance. However, its effectiveness is sensitive to the ch…
cs.RO2026
Robust Global-Local Behavior Arbitration via Continuous Command Fusion Under LiDAR Errors
Mohamed Elgouhary, Amr S. El-Wakeel
Modular autonomous driving systems must coordinate global progress objectives with local safety-driven reactions under imperfect sensing and strict real-time constraints. This pape…
cs.RO2026
Learning to Tune Pure Pursuit in Autonomous Racing: Joint Lookahead and Steering-Gain Control with PPO
Mohamed Elgouhary, Amr S. El-Wakeel
Pure Pursuit (PP) is widely used in autonomous racing for real-time path tracking due to its efficiency and geometric clarity, yet performance is highly sensitive to how key parame…