12 citations · 19 across the 11 of their papers we have counts for
11 papers
Stability Control for Real World Testing in Autonomous Racing
Phillip Pitschi, Simon Sagmeister, Frederik Werner +2
Controlling an autonomous vehicle at the limits of handling is a challenging task. Due to external influences, such as road conditions or weather, a vehicle can easily become unsta…
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…
Robust Nonlinear Trajectory Tracking Control for Autonomous Racing on Three-Dimensional Tracks
Joscha F. Bongard, Georg Jank, Simon Sagmeister +1
We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We…
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…
Control Lyapunov Functions for Optimality in Sontag-Type Control
Joscha F. Bongard, Boris Lohmann
Given a Control Lyapunov Function (CLF), Sontag's famous Formula provides a nonlinear state-feedback guaranteeing asymptotic stability of the setpoint. At the same time, a cost fun…
Dynamic Constraint Tightening for Nonlinear MPC for Autonomous Racing via Contraction Analysis
Joscha F. Bongard, Valentin L. Krieger, Boris Lohmann
This work develops a robust nonlinear Model Predictive Control (MPC) framework for path tracking in autonomous vehicles operating at the limits of handling utilizing a Control Cont…
Longitudinal Control for Autonomous Racing with Combustion Engine Vehicles
Phillip Pitschi, Simon Sagmeister, Sven Goblirsch +2
Usually, a controller for path- or trajectory tracking is employed in autonomous driving. Typically, these controllers generate high-level commands like longitudinal acceleration o…
Trajectory Planning Using Reinforcement Learning for Interactive Overtaking Maneuvers in Autonomous Racing Scenarios
Levent Ögretmen, Mo Chen, Phillip Pitschi +1
Conventional trajectory planning approaches for autonomous racing are based on the sequential execution of prediction of the opposing vehicles and subsequent trajectory planning fo…
Sampling-Based Motion Planning with Online Racing Line Generation for Autonomous Driving on Three-Dimensional Race Tracks
Levent Ögretmen, Matthias Rowold, Alexander Langmann +1
Existing approaches to trajectory planning for autonomous racing employ sampling-based methods, generating numerous jerk-optimal trajectories and selecting the most favorable feasi…
Open-Loop and Feedback Nash Trajectories for Competitive Racing with iLQGames
Matthias Rowold, Alexander Langmann, Boris Lohmann +1
Interaction-aware trajectory planning is crucial for closing the gap between autonomous racing cars and human racing drivers. Prior work has applied game theory as it provides equi…
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…