Related papers: AMZ Driverless: The Full Autonomous Racing System
Robotics is the next frontier in the progress of Artificial Intelligence (AI), as the real world in which robots operate represents an enormous, complex, continuous state space with inherent real-time requirements. One extreme challenge in…
Recently, numerous studies have investigated cooperative traffic systems using the communication among vehicle-to-everything (V2X). Unfortunately, when multiple autonomous vehicles are deployed while exposed to communication failure, there…
This paper explores the emerging knowledge-driven autonomous driving technologies. Our investigation highlights the limitations of current autonomous driving systems, in particular their sensitivity to data bias, difficulty in handling…
Reinforcement Learning (RL) has emerged as a transformative approach in the domains of automation and robotics, offering powerful solutions to complex problems that conventional methods struggle to address. In scenarios where the problem…
Motorsport has historically driven technological innovation in the automotive industry. Autonomous racing provides a proving ground to push the limits of performance of autonomous vehicle (AV) systems. In principle, AVs could be at least as…
Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering speeds. Traditional autonomous pipelines require accurate pre-mapping, localization, and planning which…
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…
The challenges presented in an autonomous racing situation are distinct from those faced in regular autonomous driving and require faster end-to-end algorithms and consideration of a longer horizon in determining optimal current actions…
Autonomous racing has seen significant advancements, driven by competitions such as the Indy Autonomous Challenge (IAC) and the Abu Dhabi Autonomous Racing League (A2RL). However, developing an autonomous racing stack for a full-scale car…
Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on…
Deep Neural Networks (DNNs) which are trained end-to-end have been successfully applied to solve complex problems that we have not been able to solve in past decades. Autonomous driving is one of the most complex problems which is yet to be…
This paper presents a functional system architecture for an automated vehicle. It provides an overall, generic structure that is independent of a specific implementation of a particular vehicle project. Yet, it has been inspired and…
In this paper we propose a hierarchical controller for autonomous racing where the same vehicle model is used in a two level optimization framework for motion planning. The high-level controller computes a trajectory that minimizes the lap…
In this paper, a Multiple Models Adaptive Fuzzy Logic Controller (MM-AFLC) with Neural Network Identification is designed to control the unmanned vehicle in Intelligent Autonomous Parking System. The objective is to achieve robust control…
Professional race-car drivers can execute extreme overtaking maneuvers. However, existing algorithms for autonomous overtaking either rely on simplified assumptions about the vehicle dynamics or try to solve expensive…
This article describes the hardware and software systems of the Micro Aerial Vehicle (MAV) platforms used by the ETH Zurich team in the 2017 Mohamed Bin Zayed International Robotics Challenge (MBZIRC). The aim was to develop robust outdoor…
Small-scale autonomous vehicle platforms provide a cost-effective environment for developing and testing advanced driving systems. However, specific configurations within this scale are underrepresented, limiting full awareness of their…
... This paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The controller incorporates a fuzzy logic [8] [9] approach for steering and speed control [37], a FL approach for ultrasound…
Self-driving vehicles are expected to be a massive economic influence over the coming decades. Udacity https://www.udacity.com/ has been working on a completely open-source self driving car. Thus, it regularly organizes various…
This work presents a novel Learning Model Predictive Control (LMPC) strategy for autonomous racing at the handling limit that can iteratively explore and learn unknown dynamics in high-speed operational domains. We start from existing LMPC…