Videos, related to the ORCA project

Video of the HRHC, including obstacle avoidance:

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

Simulation of the newly developed autonomus racing game approach:

Video of the newly developed viability based autonomus racing approach:

Video of the Nonlinear MPCC, where the resulting nonlinear optimization 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:

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

HRHC simulation, with predictions:

Reach-avoid controller: multiple ordered target sets