DTR, a mapless LiDAR reactive controller, extracts a track centerline with Delaunay triangulation plus boundary segmentation, avoiding dead-ends and cutting lap time from 9.45s to 5.79s versus Follow-The-Gap.
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DTR: Delaunay Triangulation-based Racing for Scaled Autonomous Racing
DTR, a mapless LiDAR reactive controller, extracts a track centerline with Delaunay triangulation plus boundary segmentation, avoiding dead-ends and cutting lap time from 9.45s to 5.79s versus Follow-The-Gap.