The rising popularity of self-driving cars has led to the emergence of a new research field in
recent years: Autonomous racing. Researchers are developing software and hardware for …

This paper shows a software stack capable of planning a minimum curvature trajectory for
an autonomous race car on the basis of an occupancy grid map and introduces a controller …

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 …

In this article, we propose an online 3-D planning algorithm for a drone to race competitively
against a single adversary drone. The algorithm computes an approximation of the Nash …

This paper shows the planning of time-optimal trajectories, which allows an autonomous
race car to drive at the handling limits, taking into account locally changing road friction …

Optimization problems for trajectory planning in autonomous vehicle racing are
characterized by their nonlinearity and nonconvexity. Instead of solving these optimization …

The ability to use all of the available tire force is essential to road vehicles for emergency
maneuvers and racing. As the front tires of an understeering vehicle saturate while cornering …

Real-time kinodynamic trajectory planning in dy-namic environments is critical yet
challenging for autonomous driving. In this paper, we propose an efficient trajectory plan …

Abstract The Responsibility-Sensitive Safety (RSS) model offers provable safety for vehicle
behaviors such as minimum safe following distance. However, handling worst-case …

In emergency situations, autonomous vehicles will be forced to operate at their friction limits
in order to avoid collisions. In these scenarios, coordinating the planning of the vehicle's …