To enable the design of planning and control strategies in simulated environments before their direct application to the real robot, exploiting the practice, powerful and realistic dynamic simulation tools have been proposed, e.g., the ROS-Gazebo framework.
View Article and Find Full Text PDFSelf driving vehicles promise to bring one of the greatest technological and social revolutions of the next decade for their potential to drastically change human mobility and goods transportation, in particular regarding efficiency and safety. Autonomous racing provides very similar technological issues while allowing for more extreme conditions in a safe human environment. While the software stack driving the racing car consists of several modules, in this paper we focus on the localization problem, which provides as output the estimated pose of the vehicle needed by the planning and control modules.
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