Related papers: Optimal speed in Thoroughbred horse racing
In this paper we provide optimal control based strategies to explore the dynamic capabilities of a single-track car model which includes tire models and longitudinal load transfer. Using an explicit formulation of the holonomic constraints…
Models for human running performances of various complexities and underlying principles have been proposed, often combining data from world record performances and bio-energetic facts of human physiology. Here we present a novel, minimal…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
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…
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…
Parameter control aims at realizing performance gains through a dynamic choice of the parameters which determine the behavior of the underlying optimization algorithm. In the context of evolutionary algorithms this research line has for a…
We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
This paper presents the Equimetrics data capture system. The primary objective is to apply HAR principles to enhance the understanding and optimization of equestrian performance. By integrating data from strategically placed sensors on the…
We present an approach for safe trajectory planning, where a strategic task related to autonomous racing is learned sample-efficient within a simulation environment. A high-level policy, represented as a neural network, outputs a reward…
The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…
This paper presents a bi-level optimization framework to compute the maximum-distance race strategies for a fully electric endurance race car, whilst accounting for the low-level vehicle dynamics and the thermal limitations of the…
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…
Autonomous car racing is a major challenge in robotics. It raises fundamental problems for classical approaches such as planning minimum-time trajectories under uncertain dynamics and controlling the car at the limits of its handling.…
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…
A systematic scheme is proposed to numerically estimate the quantum speed limit and temporal shape of optimal control in two-level and three-level quantum systems with bounded amplitude. For the two-level system, two quantum state…
Race cars are routinely driven to the edge of their handling limits in dynamic scenarios well above 200mph. Similar challenges are posed in autonomous racing, where a software stack, instead of a human driver, interacts within a multi-agent…
In the automation of many kinds of processes, the observable outcome can often be described as the combined effect of an entire sequence of actions, or controls, applied throughout its execution. In these cases, strategies to optimise…
World Endurance Championship (WEC) racing events are characterised by a relevant performance gap among competitors. The fastest vehicles category, consisting in hybrid vehicles, has to respect energy usage constraints set by the technical…
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…