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cs.RO2026
Vehicle Drift Emergence: Continuous Evolution from Grip Driving to the Handling Limit via Boundary Exploration Learning Model Predictive Control
Sheng Zhao, Binh-Minh Nguyen, Hangyu Lu +1
Automated drift controllers commonly track a prescribed drift equilibrium, sideslip reference, or trajectory. These formulations establish how to execute drift, whereas the continu…
cs.RO2026
Track-Guided Hierarchical Reinforcement Learning for Autonomous Vehicle Drifting with Minimum-Lap-Time Planning
Sheng Zhao, Bolin Zhao, Xiaodong Wu +1
In Formula 1, drivers optimize racing lines within tire grip limits to minimize lap times; however, in rally racing, drivers intentionally break traction to drift on loose surfaces…
cs.RO2026
Steeringless Drifting: Differential-Torque Control of a Four-Wheel Independently Driven Vehicle
Sheng Zhao, Zexin Wu, Dongyang Zhou +2
Control methods for emerging vehicle chassis architectures are important for autonomous driving near handling limits. Unlike conventional drift control, which relies on mechanical…