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Autonomous RC Racing


A collection of the videos, related to the ORCA project.

Video of the newly developed viability based autonomus racing approach:

Video of the Nonlinear MPCC, where the resulting nonlinear opitmization problem is solved with FORCES Pro NLP:

Video of the MPCC, with static and dynamic obstacle avoidance, and a new identified model:

Video of the MPCC, with a new identified model:

Reach avoid problem solved using approximate dynamic programming (ADP), applied to the race cars:

Video of the MPCC, driving backwards:

Video of the MPCC, including obstacle avoidance:

Video of the HRHC, including obstacle avoidance:

Comparison of a cascaded trajectory tracking controller and the HRHC, by overlaying two videos:

Two MPCC controlled cars racing against each other in simulation, including predictions and feasible sets:

HRHC simulation, with predictions:

Reach avoid controller, with multiple ordered targets: