Modeling and Control Design for Competitive Car Racing（2021 ICRA Full-Day Workshop

这些文章与方向还是值得学习的：

Contributed Papers

[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]

具体地址： Opportunities and Challneges with Autonomous Racing，以上部分论文github上有代码，这里就不贴出来了，自己去找一些。

下面是一些我自己认为可以参考的机器人或无人车工程，需要的可以借鉴一下。

参考ROS代码机器人工程地址，亮点为使用ROS系统下的完整工程，方法可以参考：

1. https://github.com/mrsd16teamd/loco_car

2. https://github.com/caokaifa/RoboRTS

参考matlab/simulink代码无人车工程，亮点主要为Tube-MPC控制：

https://github.com/TUMFTM/mod_vehicle_dynamics_control

3.点云处理参考文章：

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