Northwestern University
University of Zurich
Stanford
MIT
Georgia Tech
TU Munich
Caltech
ETH Zurich
All times in EDT (UTC - 04) | |
9:00a | Welcome Remarks |
9:10a | Invited Session 1 |
9:10-9:30a | Alex Liniger (ETH) - Pushing the Limits of Friction: A Story of Model Mismatch |
9:30-9:50a | Markus Lienkamp (TUM) - Indy Autonomous Challenge Key Opportunities and Challenges |
9:50-10:10a | Panagiotis Tsiotras (Georgia Tech) - Fast and Furious: Modeling and Control Design for Competitive Car Racing |
10:10-10:30a | Q/A and Discussion for Invited Session 1 |
10:30-11:30a | Contributed Papers 1-6 |
11:30-11:50a | Q/A for Papers 1-6 |
11:50a | Invited Session 2 |
11:50-12:10p | Davide Scaramuzza (U of Zurich) Autonomous Drone Racing |
12:10-12:30p | Todd Murphey (Northwestern) - Real-Time Learning After Safety Violations |
12:30-12:50p | Chris Gerdes (Stanford): Lessons for Autonomous Racing from Professional Drivers and Neural Networks |
12:50-1:10p | Q/A and Discussion for Invited Session 2 |
1:10-2:20p | Contributed Papers 7-13 |
2:20-2:40p | Q/A for Papers 7-13 |
2:40-3:00p | Panel Discussion - Autonomous Racing Competitions |
3:00p | Invited Session 3 |
3:00-3:20p | Sertac Karaman (MIT) - On Fast and Agile Autonomous Super-Vehicles: New Problems, Tools and Algorithms |
3:20-3:40p | Ugo Rosolia (Caltech) - Learning how to race using a predictive control approach: towards multi-agents racing |
3:40-3:50 | Q/A for Invited Session 3 |
3:50-4:15p | Workshop concluding remarks |
[Paper #1] | Chanyoung Jung, Seungwook Lee, Hyunki Seong, Andrea Finazzi and David Hyunchul Shim, Game-Theoretic Model Predictive Control with Data-Driven Identification of Vehicle Model for Head-to-Head Autonomous Racing [Link to Paper] |
[Paper #2] | Nan Li, Eric Goubault, Laurent Pautet and Sylvie Putot, Autonomous racecar control in head-to-head competition using Mixed-Integer Quadratic Programming [Link to Paper] |
[Paper #3] | Antonio Loquercio, Elia Kaufmann, Yunlong Song and Davide Scaramuzza, High-Speed Drone Flight with On-Board Sensing and Computing [Link to Paper] |
[Paper #4] | Markus Schratter, Jasmina Zubaca, Konstantin Mautner-Lassnig, Tobias Renzler, Martin Kirchengast, Stefan Loigge, Michael Stolz and Daniel Watzenig, Lidar-based Mapping and Localization for Autonomous Racing [Link to Paper] |
[Paper #5] | Trent Weiss, John Chrosniak and Madhur Behl, Towards Multi-Agent Autonomous Racing with the DeepRacing framework [Link to Paper] |
[Paper #6] | Matthias Schmid, Qilun Zhu, Ashley Boncimino, Robert Prucka and Chris Paredis, Control Informed Design of the IAC Autonomous Racecar for Operation at the Dynamic Envelope [Link to Paper] |
[Paper #7] | Xuesu Xiao, Joydeep Biswas and Peter Stone, Learning Inverse Kinodynamics for Accurate High-Speed Off-Road Navigation on Unstructured Terrain [Link to Paper] |
[Paper #8] | Dvij Kalaria, Parv Maheshwari, Animesh Jha, Arnesh Issar, Debashish Chakravarty, Sohel Anwar and Andres Tovar, Local NMPC on Global Optimised Path for Autonomous Racing |
[Paper #9] | Jayanth Bhargav, Johannes Betz, Hongrui Zheng and Rahul Mangharam, Track based Offline Policy Learning for Overtaking Maneuvers with Autonomous Racecars [Link to Paper] |
[Paper #10] | Shakti Wadekar, Benjamin Schwartz, Aly Gamal, Shyam Kannan, Manuel Mar, Rohan Manna, Vishnu Chellapandi and Daniel Gonzalez, Towards End-to-End Deep Learning for Autonomous Racing: On Data Collection and a Unified Architecture for Steering and Throttle Prediction [Link to Paper] |
[Paper #11] | Tim Brüdigam, Alexandre Capone, Sandra Hirche, Dirk Wollherr and Marion Leibold, Gaussian Process-based Stochastic Model Predictive Control for Overtaking in Autonomous Racing [Link to Paper] |
[Paper #12] | Rongyao Wang, Yiqiang Han and Umesh Vaidya, Deep Koopman Data-driven Control Framework forAutonomous Racing [Link to Paper] |
[Paper #13] | Minghao Jiang, Kristina Miller, Dawei Sun, Zexiang Liu, Yixuan Jia, Arnab Datta, Necmiye Ozay and Sayan Mitra, Continuous Integration and testing for Autonomous Racing Software: An Experience Report from GRAIC [Link to Paper] |
Assistant Professor
Department of Computer Science
University of Virginia
Postdoctoral Researcher
Department of Electrical and Systems Engineering
University of Pennsylvania
Michelin Chair Professor
Department of Automotive Engineering
Clemson University
Associate Professor
Department of Electrical and Systems Engineering
University of Pennsylvania
Demonstrating high-speed autonomous racing can be considered as a grand challenge for self-driving cars, and making progress here has the potential to enable breakthroughs in agile and safe autonomy. To succeed at racing, an autonomous vehicle is required to perform both precise steering and throttle maneuvers in a physically-complex, uncertain environment, and by executing a series of high-frequency decisions. This makes racing an interesting opportunity to explore the physical and algorithmic limits of autonomous driving. Autonomous racing competitions, such as Autonomous Formula SAE, F1/10 autonomous racing, Roborace, and Indy Autonomous Challenge are, both figuratively and literally, getting a lot of traction and becoming proving grounds for testing perception, planning, and control algorithms at high speeds.
We are proposing this workshop to raise awareness of the overall autonomous racing area to the IEEE Robotics and Automation Society community that can take inspiration from the problem space in their own research. This is a good time for such a workshop around this unique and important application space, that will require innovations across core topics in robotics and we believe it will gather a lot of interest.
We invite short papers (4-6 pages, including references) for submission to the workshop related to the topics above and the theme of autonomous racing. Position papers, work in progress and novel but not necessarily thoroughly worked out ideas are encouraged. The submissions will be reviewed by the workshop’s program committee and we will accept papers for oral (live) presentations, or a video highlight. A best paper award will be presented in both categories. We are currently exploring the possibility of a journal special issue in the Journal of Field Robotics for the best contributions at the workshop. Each paper will undergo a thorough review process and receive two high quality reviews. Accepted paper will be made available on the website.
The paper should be in PDF format and use the standard IEEE ICRA template.
Please use the following EasyChair link for paper submissions: Submission Link