Ahmad Amine

AD-MPCC: Adaptive Differentiable Model Predictive Contouring Control for Autonomous Racing

Nam T. Nguyen, Binh Nguyen, Ahmad Amine, Thanh Vo-Duy, Rahul Mangharam, Truong X. Nghiem

This paper presents Adaptive Differentiable Model Predictive Contouring Control (AD-MPCC), a framework for autonomous racing that integrates differentiable MPCC with online parameter estimation to handle varying road-surface conditions. For online parameter estimation, we leverag…Read more