Related papers: From Zero to High-Speed Racing: An Autonomous Raci…
This paper describes a resilient navigation and planning system used in the Indy Autonomous Challenge (IAC) competition. The IAC is a competition where full-scale race cars run autonomously on Indianapolis Motor Speedway(IMS) up to 290 km/h…
Motorsport has always been an enabler for technological advancement, and the same applies to the autonomous driving industry. The team TUM Auton-omous Motorsports will participate in the Indy Autonomous Challenge in Octo-ber 2021 to…
Autonomous racing demands safe control of vehicles at their physical limits for extended periods of time, providing insights into advanced vehicle safety systems which increasingly rely on intervention provided by vehicle autonomy.…
Existing research on autonomous driving primarily focuses on urban driving, which is insufficient for characterising the complex driving behaviour underlying high-speed racing. At the same time, existing racing simulation frameworks…
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…
In autonomous racing, vehicles operate close to the limits of handling and a sensor failure can have critical consequences. To limit the impact of such failures, this paper presents the redundant perception and state estimation approaches…
Autonomous racing presents unique challenges due to its non-linear dynamics, the high speed involved, and the critical need for real-time decision-making under dynamic and unpredictable conditions. Most traditional Reinforcement Learning…
Velocity estimation plays a central role in driverless vehicles, but standard and affordable methods struggle to cope with extreme scenarios like aggressive maneuvers due to the presence of high sideslip. To solve this, autonomous race cars…
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 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…
The rapid adoption of micromobility solutions, particularly two-wheeled vehicles like e-scooters and e-bikes, has created an urgent need for reliable autonomous riding (AR) technologies. While autonomous driving (AD) systems have matured…
Learn-to-Race Autonomous Racing Virtual Challenge hosted on www<dot>aicrowd<dot>com platform consisted of two tracks: Single and Multi Camera. Our UniTeam team was among the final winners in the Single Camera track. The agent is required to…
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…
In this paper, we describe the automated simulation and reporting pipeline implemented for our autonomous racing stack, ur.autopilot. The backbone of the simulation is based on a high-fidelity model of the vehicle interfaced as a Functional…
Autonomous driving systems (ADS) are increasingly deployed in real traffic, yet testing remains fundamentally challenging due to open environments, complex scenarios, and the lack of established processes and metrics. Despite extensive…
Scientific development often takes place in the context of research projects carried out by dedicated students during their time at university. In the field of self-driving software research, the Formula Student Driverless competitions are…
This paper presents the algorithms and system architecture of an autonomous racecar. The introduced vehicle is powered by a software stack designed for robustness, reliability, and extensibility. In order to autonomously race around a…
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…
Unmanned aerial vehicles, and multi-rotors in particular, can now perform dexterous tasks in impervious environments, from infrastructure monitoring to emergency deliveries. Autonomous drone racing has emerged as an ideal benchmark to…
This paper summarizes the work of building the autonomous system including detection system and path tracking controller for a formula student autonomous racecar. A LIDAR-vision cooperating method of detecting traffic cone which is used as…