M-PSpliner adds multi-opponent tracking and Gaussian process trajectory prediction to the PSpliner planner, raising measured overtaking success from 81.53% to 91.65% on a 1:10 scale car.
Optimization-based au- tonomous racing of 1:43 scale rc cars,
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M-Predictive Spliner: Enabling Spatiotemporal Multi-Opponent Overtaking for Autonomous Racing
M-PSpliner adds multi-opponent tracking and Gaussian process trajectory prediction to the PSpliner planner, raising measured overtaking success from 81.53% to 91.65% on a 1:10 scale car.