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The aim of this paper is to bring a mathematical justification to the optimal way of organizing one's effort when running. It is well known from physiologists that all running exercises of duration less than 3mn are run with a strong…
A good racing strategy and in particular the racing line is decisive to winning races in Formula 1, MotoGP, and other forms of motor racing. The racing line defines the path followed around a track as well as the optimal speed profile along…
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…
Nonholonomic wheeled mobile robots are often required to implement algorithms designed for holonomic kinematic systems. This creates a velocity tracking problem for the actual wheeled mobile robot. In this paper, we investigate the issue of…
Simulation and emulation are popular approaches for experimentation in Computer Networks. However, due to their respective inherent drawbacks, existing solutions cannot perform both fast and realistic control plane experiments. To close…
With the evolution of self-driving cars, autonomous racing series like Roborace and the Indy Autonomous Challenge are rapidly attracting growing attention. Researchers participating in these competitions hope to subsequently transfer their…
This paper presents an extension of Keller's classical model to address the dynamics of long-distance trail running, a sport characterized by varying terrains, changing elevations, and the critical influence of in-race nutrition uptake. The…
This paper presents a framework to jointly optimize the design and control of an electric race car equipped with a multiple-gear transmission, specifically accounting for the discrete gearshift dynamics. We formulate the problem as a…
This paper presents two complementary frameworks to optimize Formula 1 race strategies, jointly accounting for energy allocation, tire wear and pit stop timing. First, the race scenario is modeled using lap time maps and a dynamic tire wear…
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…
Formula One (F1) race strategy takes place in a high-pressure and fast-paced environment where split-second decisions can drastically affect race results. Two of the core decisions of race strategy are when to make pit stops (i.e. replace…
Autonomous race cars require perception, estimation, planning, and control modules which work together asynchronously while driving at the limit of a vehicle's handling capability. A fundamental challenge encountered in designing these…
Map-based methods for autonomous racing estimate the vehicle's location, which is used to follow a high-level plan. While map-based optimisation methods demonstrate high-performance results, they are limited by requiring a map of the…
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…
The paper presents a strategy for the control of anautonomous racing car on a pre-mapped track. Using a dynamic model of the vehicle, the optimal racing line is computed, taking track boundaries into account. With the optimal racing line as…
It is often necessary for drones to complete delivery, photography, and rescue in the shortest time to increase efficiency. Many autonomous drone races provide platforms to pursue algorithms to finish races as quickly as possible for the…
A fundamental aspect of racing is overtaking other race cars. Whereas previous research on autonomous racing has majorly focused on lap-time optimization, here, we propose a method to plan overtaking maneuvers in autonomous racing. A…
Autonomous racing extends beyond the challenge of controlling a racecar at its physical limits. Professional racers employ strategic maneuvers to outwit other competing opponents to secure victory. While modern control algorithms can…
A generalized optimal velocity model is analyzed, where the optimal velocity function depends not only on the headway of each car but also the headway of the immediately preceding one. The stability condition of the model is derived by…
This paper presents models and optimization methods to rapidly compute the achievable lap time of a race car equipped with a battery electric powertrain. Specifically, we first derive a quasi-convex model of the electric powertrain,…