Yufei Xi

Deep Reinforcement-Learning-Guided Model Predictive Control for Preventing Overtakes in Autonomous Racing

Yufei Xi, Yijie Liao, Tulga Ersal

This paper addresses defensive blocking in autonomous racing, where a vehicle must prevent a faster opponent from overtaking while operating near its dynamic limits. Different from lap-time minimization, we formulate defense as a spatial occupancy regulation problem via a hierarc…Read more