In this paper, we describe the Mission Performance module implemented for a fully autonomous racing car to automatically manage the longitudinal, lateral, and combined performances, aiming to speedup the laptime progression while assuring safety. Motivated by the difficulty and risks of applying the real-time estimatio...
Giovanni Lambertini, M. Pini, Nicola Musiu et al.· 0 citations
The results demonstrate the capability of the Model Predictive Control-based motion planning and control pipeline for autonomous car racing in driving at the limit of handling, smoothly executing overtaking maneuvers, and quickly reacting to high oversteering conditions to recover the vehicle stability.
Ayoub Raji, F. Sacco, Nicola Musiu et al.· 0 citations
A custom high-fidelity vehicle dynamics simulation environment for testing and validation of Autonomous Racing software and a calibration procedure based on experimental data is presented, along with a validation study to further support the quality of the proposed framework.
Nicola Musiu, Francesco Iacovacci, Fausto Lupo et al.· 0 citations
Object detection and tracking are fundamental components of perception systems for autonomous driving. Achieving robust performance under adverse conditions such as limited visibility, sensor noise, and failures remains an open challenge, particularly in autonomous racing, where vehicles operate at very high speeds, ex...
Davide Malvezzi, Michele Pestarino, Vittoria Cavicchioli et al.· 0 citations
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