Related papers: Scalable Supervisory Architecture for Autonomous R…

Architectural monitoring and adaptation allows self-management capabilities of autonomic systems to realize more powerful adaptation steps, which observe and adjust not only parameters but also the software architecture. However, monitoring…

The problem of autonomous racing is to navigate through a race course as quickly as possible while not colliding with any obstacles. We approach the autonomous racing problem with the added constraint of not maintaining an updated obstacle…

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…

Nowadays, SLAM (Simultaneous Localization and Mapping) is considered by the Robotics community to be a mature field. Currently, there are many open-source systems that are able to deliver fast and accurate estimation in typical real-world…

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…

Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key challenge in platooning lies in…

Most automated driving functions are designed for a specific task or vehicle. Most often, the underlying architecture is fixed to specific algorithms to increase performance. Therefore, it is not possible to deploy new modules and…

The selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of…

We investigate the problem of autonomous racing among teams of cooperative agents that are subject to realistic racing rules. Our work extends previous research on hierarchical control in head-to-head autonomous racing by considering a…

Autonomous systems are composed of several subsystems such as mechanical, propulsion, perception, planning and control. These are traditionally designed separately which makes performance optimization of the integrated system a significant…

In this work, we introduce a Self-Aware Polymorphic Architecture (SAPA) design approach to support emerging context-aware applications and mitigate the programming challenges caused by the ever-increasing complexity and heterogeneity of…

This paper discusses opportunities to parallelize graph based path planning algorithms in a time varying environment. Parallel architectures have become commonplace, requiring algorithm to be parallelized for efficient execution. An…

The development of software components for autonomous driving functions should always include an extensive and rigorous evaluation. Since real-world testing is expensive and safety-critical -- especially when facing dynamic racing scenarios…

The way to full autonomy of public road vehicles requires the step-by-step replacement of the human driver, with the ultimate goal of replacing the driver completely. Eventually, the driving software has to be able to handle all situations…

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…

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. Autonomous race cars require highly accurate perception, state estimation, planning and…

This paper explores the architecture of Software as a Service (SaaS) platforms, emphasizing scalability and maintainability. SaaS, a flexible software distribution model suitable for individuals and organizations, has become prevalent with…

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…

Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…

Advanced Driver-Assistance Systems (ADAS) is one of the primary drivers behind increasing levels of autonomy, driving comfort in this age of connected mobility. However, the performance of such systems is a function of execution rate which…