Research Applications of PINS

Autonomous Racing of a Scaled Car

The work presents a real-time non-linear model-predictive control (NMPC) framework to perform minimum-time motion planning for autonomous racing cars: A kineto-dynamical model is adopted to generate on-line minimum time trajectories with an indirect optimal control method.

Autonomous Parking

The work presents a framework to plan and execute autonomous parking maneuvers in complex parking scenarios. We formulate a minimum-time optimal control problem for trajectory planning, using an indirect optimal control approach.

Autonomous Racing with a Full Vehicle Model

This paper addresses the on-line minimum-time motion planning and control of a black-box racing vehicle model.

This paper presents a hierarchical framework with novel analytical and neural physics-driven models, to enable the online planning and tracking of minimum-time maneuvers, for a vehicle with partially-unknown parameters.