相关论文: A Resilient Navigation and Path Planning System fo…

This paper describes Ariel Team's autonomous racing controller for the Indy Autonomous Challenge (IAC) simulation race. IAC is the first multi-vehicle autonomous head-to-head competition, reaching speeds of 300 km/h along an oval track,…

While the majority of autonomous driving research has concentrated on everyday driving scenarios, further safety and performance improvements of autonomous vehicles require a focus on extreme driving conditions. In this context, autonomous…

Autonomous motorsports aim to replicate the human racecar driver with software and sensors. As in traditional motorsports, Autonomous Racing Vehicles (ARVs) are pushed to their handling limits in multi-agent scenarios at extremely high…

This article introduces the hardware-software co-design of the control system for an autonomy-enabled formula-style high-speed racecar that will be utilized as the deployment platform for high-level autonomy in the first ever head-to-head…

For decades, motorsport has been an incubator for innovations in the automotive sector and brought forth systems like disk brakes or rearview mirrors. Autonomous racing series such as Roborace, F1Tenth, or the Indy Autonomous Challenge…

Integrated sensing and communication (ISAC) enables simultaneous localization, environment perception, and data exchange for connected autonomous vehicles. However, most existing ISAC designs prioritize sensing accuracy and communication…

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…

An algorithm based on Artificial Neural Networks is proposed in this paper to improve the accuracy of Inertial Navigation System (INS)/ Global Navigation Satellite System (GNSS) integrated navigation during the absence of GNSS signals. The…

High-speed, head-to-head autonomous racing presents substantial technical and logistical challenges, including precise localization, rapid perception, dynamic planning, and real-time control-compounded by limited track access and costly…

For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…

This paper proposes an interaction and safety-aware motion-planning method for an autonomous vehicle in uncertain multi-vehicle traffic environments. The method integrates the ability of the interaction-aware interacting multiple model…

An Adaptive Cruise Control (ACC) system automatically adjusts the host vehicle's speed to maintain a safe following distance from a lead vehicle. In typical implementations, a feedback controller (e.g., a Proportional-Integral-Derivative…

In the landscape of technological innovation, autonomous racing is a dynamic and challenging domain that not only pushes the limits of technology, but also plays a crucial role in advancing and fostering a greater acceptance of autonomous…

In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…

Integrated sensing and communications (ISAC) enabled by unmanned aerial vehicles (UAVs) is a promising technology to facilitate target tracking applications. In contrast to conventional UAV-based ISAC system designs that mainly focus on…

The Indy Autonomous Challenge (IAC) brought together for the first time in history nine autonomous racing teams competing at unprecedented speed and in head-to-head scenario, using independently developed software on open-wheel racecars.…

In this paper, we propose a way to model the resilience of the Iterative Closest Point (ICP) algorithm in the presence of corrupted measurements. In the context of autonomous vehicles, certifying the safety of the localization process poses…

This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…

This work presents a novel Learning Model Predictive Control (LMPC) strategy for autonomous racing at the handling limit that can iteratively explore and learn unknown dynamics in high-speed operational domains. We start from existing LMPC…

Motion planning seeks a collision-free path in a configuration space (C-space), representing all possible robot configurations in the environment. As it is challenging to construct a C-space explicitly for a high-dimensional robot, we…