This paper addresses autonomous racing by introducing a real-time nonlinear model predictive controller (NMPC) coupled with a moving horizon estimator (MHE). The racing problem is solved by an NMPC-based off-line trajectory planner that computes the best trajectory while considering the physical limits of the vehicle and circuit constraints. The developed controller is further enhanced with a learning extension based on Gaussian process regression that improves model predictions. The proposed control, estimation, and planning schemes are evaluated on two different race tracks. Code can be found here: https://github.com/yassinekebbati/GP_Learning-based_MPC_with_MHE
@article{arxiv.2510.05366,
title = {Learning-based model predictive control with moving horizon state estimation for autonomous racing},
author = {Yassine Kebbati and Andreas Rauh and Naima Ait-Oufroukh and Dalil Ichalal and Vincent Vigneron},
journal= {arXiv preprint arXiv:2510.05366},
year = {2025}
}