Related papers: Optimal speed in Thoroughbred horse racing
The goal of animal movement analysis is to understand how organisms explore and exploit the complex and varying environment. Animals usually exhibit varied and complicated movements, from apparently deterministic behaviors to highly random…
In match race sailing, competitors must steer their boats upwind in the presence of unpredictably evolving weather. Combined with the tacking motion necessary to make upwind progress, this makes it natural to model their path-planning as a…
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…
The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control inputs. Unfortunately, solving the resulting nonlinear optimal…
We introduce an alternative approach for the analysis and numerical approximation of the optimal feedback control mapping. It consists in looking at a typical optimal control problem in such a way that feasible controls are mappings…
This paper introduces an approach that enhances the state estimator for high-speed autonomous race cars, addressing challenges from unreliable measurements, localization failures, and computing resource management. The proposed robust…
Motion planning and control in autonomous car racing are one of the most challenging and safety-critical tasks due to high speed and dynamism. The lower-level control nodes are expected to be highly optimized due to resource constraints of…
The automation of passenger vehicles is becoming more and more widespread, leading to full autonomy of cars within the next years. Furthermore, sustainable electric mobility is gaining in importance. As racecars have been a development…
Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given as an ordinary differential equation,…
Fully autonomous racing demands not only high-speed driving but also fair and courteous maneuvers. In this paper, we propose an autonomous racing framework that learns complex racing behaviors from expert demonstrations using hierarchical…
Head-to-head autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times while also actively looking for strategies to overtake/stay ahead of the…
Autonomous navigation has recently gained great interest in the field of reinforcement learning. However, little attention was given to the time optimal velocity control problem, i.e. controlling a vehicle such that it travels at the…
This paper is concerned with providing the maximum principle for a control problem governed by a stochastic evolution system on a separable Hilbert space. In particular, necessary conditions for optimality for this stochastic optimal…
We propose a novel B-spline trajectory optimization method for autonomous racing. We consider the unavailability of sophisticated race car and race track dynamics in early-stage autonomous motorsports development and derive methods that…
This paper considers two different problems in trajectory tracking control for linear systems. First, if the control is not unique which is most input energy efficient. Second, if exact tracking is infeasible which control performs most…
This paper is devoted to the study of the dynamic optimization of several controlled crowd motion models in the general planar settings, which is an application of a class of optimal control problems involving a general nonconvex sweeping…
The paper is devoted to deriving necessary optimality conditions in a general optimal control problem for dynamical systems governed by controlled sweeping processes with hard-constrained control actions entering both polyhedral moving sets…
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits for locomotion at high speeds or over long distances. The…
In this work, we consider optimality conditions of an optimal control problem governed by an obstacle problem. Here, we focus on introducing a, matrix valued, control variable as the coefficients of the obstacle problem. As it is well…
Performance of optimization on quadratic problems sensitively depends on the low-lying part of the spectrum. For large (effectively infinite-dimensional) problems, this part of the spectrum can often be naturally represented or approximated…