A Tricycle Model to Accurately Control an Autonomous Racecar with Locked Differential

no code implementations • 22 Dec 2023 • Ayoub Raji, Nicola Musiu, Alessandro Toschi, Francesco Prignoli, Eugenio Mascaro, Pietro Musso, Francesco Amerotti, Alexander Liniger, Silvio Sorrentino, Marko Bertogna

In this paper, we present a novel formulation to model the effects of a locked differential on the lateral dynamics of an autonomous open-wheel racecar.

er.autopilot 1.0: The Full Autonomous Stack for Oval Racing at High Speeds

no code implementations • 27 Oct 2023 • Ayoub Raji, Danilo Caporale, Francesco Gatti, Andrea Giove, Micaela Verucchi, Davide Malatesta, Nicola Musiu, Alessandro Toschi, Silviu Roberto Popitanu, Fabio Bagni, Massimiliano Bosi, Alexander Liniger, Marko Bertogna, Daniele Morra, Francesco Amerotti, Luca Bartoli, Federico Martello, Riccardo Porta

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.

Motion Planning and Control for Multi Vehicle Autonomous Racing at High Speeds

no code implementations • 22 Jul 2022 • Ayoub Raji, Alexander Liniger, Andrea Giove, Alessandro Toschi, Nicola Musiu, Daniele Morra, Micaela Verucchi, Danilo Caporale, Marko Bertogna

This paper presents a multi-layer motion planning and control architecture for autonomous racing, capable of avoiding static obstacles, performing active overtakes, and reaching velocities above 75 $m/s$.

Motion Planning