An online forward-backward velocity planner with spatial-domain sampling lets an autonomous race car adapt to reduced grip in simulation, improving section times by up to 1.42 s.
A three-dimensional free-trajectory quasi- steady-state optimal-control method for minimum-lap-time of race vehicles,
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Online Velocity Profile Generation and Tracking for Sampling-Based Local Planning Algorithms in Autonomous Racing Environments
An online forward-backward velocity planner with spatial-domain sampling lets an autonomous race car adapt to reduced grip in simulation, improving section times by up to 1.42 s.