Related papers: Optimizing running a race on a curved track
This paper presents a global trajectory optimization framework for minimizing lap time in autonomous racing under uncertain vehicle dynamics. Optimizing the trajectory over the full racing horizon is computationally expensive, and tracking…
We propose an online planning approach for racing that generates the time-optimal trajectory for the upcoming track section. The resulting trajectory takes the current vehicle state, effects caused by \acl{3D} track geometries, and speed…
An algorithm is developed to optimize vehicle speed trajectory over multiple signalized intersections with known traffic signal information to minimize fuel consumption and travel time, and to meet ride comfort requirements using sequential…
Consider the circle $C$ of length 1 and a circular arc $A$ of length $\ell\in (0,1)$. It is shown that there exists $k=k(\ell) \in \mathbb{N}$, and a schedule for $k$ runners along the circle with $k$ constant but distinct positive speeds…
In this paper, we investigate a pursuit-evasion game in which a mobile observer tries to track a target in an environment containing obstacles. We formulate the game as an optimal control problem with state inequality constraint in a simple…
We derive a hybrid feedback control law for the lateral leg spring (LLS) model so that the center of mass of a legged runner follows a curved path in horizontal plane. The control law enables the runner to change the placement and the…
Objectives: Negative splitting (i.e., finishing the race faster) is a tactic commonly employed by elite marathon athletes, even though research supporting the strategy is scarce. The presence of pacers allows the main runner to run behind a…
This paper describes autonomous racing of RC race cars based on mathematical optimization. Using a dynamical model of the vehicle, control inputs are computed by receding horizon based controllers, where the objective is to maximize…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
In the realm of circuit motorsports, race strategy plays a pivotal role in determining race outcomes. This strategy focuses on the timing of pit stops, which are necessary due to fuel consumption and tire performance degradation. The…
We consider the problem of controlling a vehicle to arrive at a fixed destination while minimizing a combination of energy consumption and travel time. Our model includes vehicle speed and accelaration limits, aerodynamic drag, rolling…
Though athletics statistics are abundant, it is a difficult task to quantitatively compare performances from different events of track, field, and road running in a meaningful way. There are several commonly-used methods, but each has its…
Trajectory optimization is a central component of fast and efficient autonomous racing. However practical optimization pipelines remain highly sensitive to initialization and may converge slowly or to suboptimal local solutions when seeded…
The rising popularity of driver-less cars has led to the research and development in the field of autonomous racing, and overtaking in autonomous racing is a challenging task. Vehicles have to detect and operate at the limits of dynamic…
In Formula One, teams compete to develop their cars and achieve the highest possible finishing position in each race. During a race, however, teams are unable to alter the car, so they must improve their cars' finishing positions via race…
Trajectory planning at high velocities and at the handling limits is a challenging task. In order to cope with the requirements of a race scenario, we propose a far-sighted two step, multi-layered graph-based trajectory planner, capable to…
A novel learning Model Predictive Control technique is applied to the autonomous racing problem. The goal of the controller is to minimize the time to complete a lap. The proposed control strategy uses the data from previous laps to improve…
Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to…
This paper presents a novel planning and control strategy for competing with multiple vehicles in a car racing scenario. The proposed racing strategy switches between two modes. When there are no surrounding vehicles, a learning-based model…
We investigate the dynamics of a bicycle on an uneven mountain bike track split into straight sections with small jumps (kickers) and banked corners. A basic bike-rider model is proposed and used to derive equations of motion, which capture…