├── Controller A ├── Figure_11.png ├── FrenetOptimalTrajectory │ ├── QuinticPolynomialsPlanner │ │ ├── __pycache__ │ │ │ └── quintic_polynomials_planner.cpython-36.pyc │ │ └── quintic_polynomials_planner.ipynb │ ├── __pycache__ │ │ ├── cubic_spline_planner.cpython-36.pyc │ │ └── quintic_polynomials_planner.cpython-36.pyc │ ├── cubic_spline_planner.py │ ├── frenet_optimal_trajectory.py │ └── quintic_polynomials_planner.py ├── IRIS.py ├── __pycache__ │ ├── IRIS.cpython-36.pyc │ ├── adaptive_kalman_filter.cpython-36.pyc │ ├── inv_set_calc.cpython-36.pyc │ └── mpc_robust.cpython-36.pyc ├── adaptive_kalman_filter.py ├── adaptive_kalman_filter_eg.py ├── comparision.png ├── computation_time.png ├── computation_time_eg.png ├── computation_time_final.png ├── computation_times.csv ├── computation_times1.csv ├── dummy_path_goal_pub.py ├── dummygoal.pkl ├── dummypath.pkl ├── inv_set_calc.py ├── mpc_robust.py ├── mpc_robust_frenet.py ├── plot.py ├── plot_times.py ├── pre_compensator.py └── times.txt ├── Controller B ├── black_box_controller.py ├── lqr_steering_adjust.py ├── pre_compensator.py ├── train_nn.py └── trained_model.pt ├── Controller racing A ├── FrenetOptimalTrajectory.zip ├── FrenetOptimalTrajectory │ ├── QuinticPolynomialsPlanner │ │ ├── __pycache__ │ │ │ └── quintic_polynomials_planner.cpython-36.pyc │ │ └── quintic_polynomials_planner.ipynb │ ├── __pycache__ │ │ ├── cubic_spline_planner.cpython-36.pyc │ │ ├── frenet_optimal_trajectory.cpython-36.pyc │ │ └── quintic_polynomials_planner.cpython-36.pyc │ ├── cubic_spline_planner.py │ ├── frenet_optimal_trajectory.py │ └── quintic_polynomials_planner.py ├── IRIS.py ├── __pycache__ │ ├── IRIS.cpython-36.pyc │ ├── adaptive_kalman_filter.cpython-36.pyc │ ├── carla_utils.cpython-36.pyc │ ├── inv_set_calc.cpython-36.pyc │ ├── live_plotter.cpython-36.pyc │ └── utils.cpython-36.pyc ├── _out │ ├── 00001443.png │ ├── 00001444.png │ ├── 00001445.png │ ├── 00001446.png │ ├── 00001447.png │ ├── 00001448.png │ ├── 00001449.png │ ├── 00001450.png │ ├── 00001451.png │ ├── 00001452.png │ ├── 00001453.png │ ├── 00001471.png │ └── 00001473.png ├── adaptive_kalman_filter.py ├── adaptive_kalman_filter_eg.py ├── backup.py ├── carla_utils.py ├── computation_time_eg.png ├── computation_time_final.png ├── dummy_path_goal_pub.py ├── dummygoal.pkl ├── dummypath.pkl ├── front_right_wheel_-1.csv ├── front_right_wheel_0.5.csv ├── get_acc_constant.py ├── get_steering_constant.py ├── inv_set_calc.py ├── live_plotter.py ├── mpc_robust.py ├── mpc_robust_frenet.py ├── mpc_robust_frenet_without_obstacles.py ├── outputs.zip ├── outputs │ ├── IRIS.odg │ ├── IRIS.png │ ├── IRIS_.png │ ├── Steerings.png │ ├── a_maxess.csv │ ├── comp_times.csv │ ├── comp_times_with_comp.csv │ ├── comp_times_without_comp.csv │ ├── control_limitss_speed_curvature.png │ ├── e1_maxess.csv │ ├── e2_maxess.csv │ ├── errors_1.png │ ├── errors_2.png │ ├── errors_3.png │ ├── errors_4.png │ ├── errors_e1_e2_speed_curv.png │ ├── forward_speed.png │ ├── plot_iris.py │ ├── plot_times.py │ ├── s_maxess.csv │ ├── speed_comp.csv │ ├── speed_vs_time_on_full_throttle.png │ ├── steer_const.csv │ ├── steering_maxess.csv │ ├── stiff_coeff.csv │ ├── trajectory.png │ ├── vis.py │ ├── with_comp.png │ └── without_comp.png ├── outputs_overtaking │ ├── comp_times_with_comp1.csv │ ├── forward_speed_with_comp.png │ ├── forward_speed_with_comp1.png │ ├── forward_speed_without_comp.png │ ├── times.png │ ├── trajectory_with_comp.png │ ├── trajectory_with_comp1.png │ └── trajectory_without_comp.png ├── outputs_overtaking_anomaly │ ├── FrenetOptimalTrajectory │ │ ├── QuinticPolynomialsPlanner │ │ │ ├── __pycache__ │ │ │ │ └── quintic_polynomials_planner.cpython-36.pyc │ │ │ └── quintic_polynomials_planner.ipynb │ │ ├── __pycache__ │ │ │ ├── cubic_spline_planner.cpython-36.pyc │ │ │ ├── frenet_optimal_trajectory.cpython-36.pyc │ │ │ └── quintic_polynomials_planner.cpython-36.pyc │ │ ├── cubic_spline_planner.py │ │ ├── frenet_optimal_trajectory.py │ │ └── quintic_polynomials_planner.py │ ├── comp_times_with_comp.csv │ ├── comp_times_without_comp.csv │ ├── forward_speed_with_comp.csv │ ├── forward_speed_with_comp.png │ ├── forward_speed_without_comp.csv │ ├── forward_speed_without_comp.png │ ├── left_boundary_with_comp.csv │ ├── left_boundary_without_comp.csv │ ├── plot.py │ ├── reference_signal_with_comp.csv │ ├── reference_signal_without_comp.csv │ ├── right_boundary_with_comp.csv │ ├── right_boundary_without_comp.csv │ ├── trajectory_opp_with_comp.csv │ ├── trajectory_opp_without_comp.csv │ ├── trajectory_with_comp.csv │ ├── trajectory_with_comp.png │ ├── trajectory_without_comp.csv │ ├── trajectory_without_comp.png │ ├── with_comp.png │ ├── with_comp1.png │ ├── with_comp2.png │ ├── without_comp.png │ ├── without_comp1.png │ └── without_comp2.png ├── outputs_overtaking_turn │ ├── FrenetOptimalTrajectory │ │ ├── QuinticPolynomialsPlanner │ │ │ ├── __pycache__ │ │ │ │ └── quintic_polynomials_planner.cpython-36.pyc │ │ │ └── quintic_polynomials_planner.ipynb │ │ ├── __pycache__ │ │ │ ├── cubic_spline_planner.cpython-36.pyc │ │ │ ├── frenet_optimal_trajectory.cpython-36.pyc │ │ │ └── quintic_polynomials_planner.cpython-36.pyc │ │ ├── cubic_spline_planner.py │ │ ├── frenet_optimal_trajectory.py │ │ └── quintic_polynomials_planner.py │ ├── comp_times_with_comp.csv │ ├── comp_times_without_comp.csv │ ├── forward_speed_with_comp.csv │ ├── forward_speed_with_comp.png │ ├── forward_speed_without_comp.csv │ ├── forward_speed_without_comp.png │ ├── left_boundary_with_comp.csv │ ├── left_boundary_without_comp.csv │ ├── plot.py │ ├── reference_signal_with_comp.csv │ ├── reference_signal_without_comp.csv │ ├── right_boundary_with_comp.csv │ ├── right_boundary_without_comp.csv │ ├── trajectory_opp_with_comp.csv │ ├── trajectory_opp_without_comp.csv │ ├── trajectory_with_comp.csv │ ├── trajectory_with_comp.png │ ├── trajectory_without_comp.csv │ ├── trajectory_without_comp.jpg │ ├── trajectory_without_comp.png │ ├── with_comp.png │ └── without_comp.png ├── outputs_standalone │ ├── FrenetOptimalTrajectory │ │ ├── QuinticPolynomialsPlanner │ │ │ ├── __pycache__ │ │ │ │ └── quintic_polynomials_planner.cpython-36.pyc │ │ │ └── quintic_polynomials_planner.ipynb │ │ ├── __pycache__ │ │ │ ├── cubic_spline_planner.cpython-36.pyc │ │ │ ├── frenet_optimal_trajectory.cpython-36.pyc │ │ │ └── quintic_polynomials_planner.cpython-36.pyc │ │ ├── cubic_spline_planner.py │ │ ├── frenet_optimal_trajectory.py │ │ └── quintic_polynomials_planner.py │ ├── comp_times.csv │ ├── comp_times_f.csv │ ├── comp_times_with_comp.csv │ ├── comp_times_without_comp.csv │ ├── forward_speed.csv │ ├── forward_speed_with_comp.csv │ ├── forward_speed_with_comp.png │ ├── forward_speed_without_comp.csv │ ├── forward_speed_without_comp.png │ ├── left_boundary.csv │ ├── left_boundary_with_comp.csv │ ├── left_boundary_without_comp.csv │ ├── plot.py │ ├── reference_signal.csv │ ├── reference_signal_with_comp.csv │ ├── reference_signal_without_comp.csv │ ├── right_boundary.csv │ ├── right_boundary_with_comp.csv │ ├── right_boundary_without_comp.csv │ ├── speeds_with.png │ ├── speeds_without.png │ ├── times.png │ ├── track_full.odg │ ├── track_full.png │ ├── track_merged.png │ ├── track_zoomed.png │ ├── trajectory.csv │ ├── trajectory_with_comp.csv │ ├── trajectory_with_comp.png │ ├── trajectory_without_comp.csv │ ├── trajectory_without_comp.png │ ├── with_comp.png │ └── without_comp.png ├── plot.py ├── pre_compensator.py ├── racetrack_waypoints.txt ├── racetrack_waypoints_reverse.txt ├── responses.png ├── times.txt ├── times_plot │ ├── computation_time.png │ ├── computation_times.csv │ ├── computation_times1.csv │ └── plot.py ├── utils.py ├── waypoints_new.csv ├── waypoints_new_reverse.csv ├── waypoints_new_reverse1.csv └── waypoints_new_reversed.csv ├── Controller racing B ├── Figure_curvature.png ├── Figure_opt_racing_line.png ├── Figure_speeds.png ├── FrenetOptimalTrajectory │ ├── QuinticPolynomialsPlanner │ │ ├── __pycache__ │ │ │ └── quintic_polynomials_planner.cpython-36.pyc │ │ └── quintic_polynomials_planner.ipynb │ ├── __pycache__ │ │ ├── cubic_spline_planner.cpython-36.pyc │ │ ├── frenet_optimal_trajectory.cpython-36.pyc │ │ └── quintic_polynomials_planner.cpython-36.pyc │ ├── cubic_spline_planner.py │ ├── frenet_optimal_trajectory.py │ └── quintic_polynomials_planner.py ├── LowController.py ├── Sensors_ego1.xml ├── __pycache__ │ ├── adaptive_kalman_filter.cpython-36.pyc │ ├── carla_utils.cpython-36.pyc │ ├── live_plotter.cpython-36.pyc │ ├── lqr_steering_adjust.cpython-38.pyc │ ├── lqr_steering_adjust_frenet_frame.cpython-36.pyc │ ├── params.cpython-36.pyc │ ├── params.cpython-38.pyc │ ├── util_funcs.cpython-36.pyc │ ├── util_funcs.cpython-38.pyc │ └── utils.cpython-36.pyc ├── adaptive_kalman_filter.py ├── blackbox_controller.py ├── blackbox_controller_refined.py ├── calc_steering_const.py ├── carla_utils.py ├── glob_racing_line.txt ├── lap1.csv ├── lap2.csv ├── lap8.csv ├── live_plotter.py ├── lqr_steering_adjust.py ├── lqr_steering_adjust_frenet_frame.py ├── lqr_steering_adjust_new.py ├── outputs_overtaking_turn │ ├── FrenetOptimalTrajectory │ │ ├── QuinticPolynomialsPlanner │ │ │ ├── __pycache__ │ │ │ │ └── quintic_polynomials_planner.cpython-36.pyc │ │ │ └── quintic_polynomials_planner.ipynb │ │ ├── __pycache__ │ │ │ ├── cubic_spline_planner.cpython-36.pyc │ │ │ ├── frenet_optimal_trajectory.cpython-36.pyc │ │ │ └── quintic_polynomials_planner.cpython-36.pyc │ │ ├── cubic_spline_planner.py │ │ ├── frenet_optimal_trajectory.py │ │ └── quintic_polynomials_planner.py │ ├── comp_times_with_comp.csv │ ├── comp_times_without_comp.csv │ ├── forward_speed_with_comp.csv │ ├── forward_speed_with_comp.png │ ├── forward_speed_without_comp.csv │ ├── forward_speed_without_comp.png │ ├── left_boundary_with_comp.csv │ ├── left_boundary_without_comp.csv │ ├── plot.py │ ├── reference_signal_with_comp.csv │ ├── reference_signal_without_comp.csv │ ├── right_boundary_with_comp.csv │ ├── right_boundary_without_comp.csv │ ├── trajectory_opp_with_comp.csv │ ├── trajectory_opp_without_comp.csv │ ├── trajectory_with_comp.csv │ ├── trajectory_with_comp.png │ ├── trajectory_without_comp.csv │ └── trajectory_without_comp.png ├── outputs_standalone │ ├── FrenetOptimalTrajectory │ │ ├── QuinticPolynomialsPlanner │ │ │ ├── __pycache__ │ │ │ │ └── quintic_polynomials_planner.cpython-36.pyc │ │ │ └── quintic_polynomials_planner.ipynb │ │ ├── __pycache__ │ │ │ ├── cubic_spline_planner.cpython-36.pyc │ │ │ ├── frenet_optimal_trajectory.cpython-36.pyc │ │ │ └── quintic_polynomials_planner.cpython-36.pyc │ │ ├── cubic_spline_planner.py │ │ ├── frenet_optimal_trajectory.py │ │ └── quintic_polynomials_planner.py │ ├── comp_times_with_comp.csv │ ├── comp_times_without_comp.csv │ ├── forward_speed_with_comp.csv │ ├── forward_speed_with_comp.png │ ├── forward_speed_without_comp.csv │ ├── forward_speed_without_comp.png │ ├── left_boundary_with_comp.csv │ ├── left_boundary_without_comp.csv │ ├── plot.py │ ├── reference_signal_with_comp.csv │ ├── reference_signal_without_comp.csv │ ├── right_boundary_with_comp.csv │ ├── right_boundary_without_comp.csv │ ├── speeds_with_comp.png │ ├── speeds_without_comp.png │ ├── track_full.png │ ├── track_merged.png │ ├── track_merged1.jpg │ ├── track_zoomed.png │ ├── trajectory_with_comp.csv │ ├── trajectory_with_comp.png │ ├── trajectory_without_comp.csv │ └── trajectory_without_comp.png ├── params.py ├── params.yaml ├── parse.py ├── pre_compensator.py ├── racetrack_waypoints.txt ├── racetrack_waypoints_reverse.txt ├── times.txt ├── traj_race_cl.csv ├── util_funcs.py ├── utils.py ├── waypoints_new.csv ├── waypoints_new_reverse.csv ├── waypoints_new_reverse1.csv ├── waypoints_new_reversed.csv └── with_comp.png ├── README.md ├── appendix.pdf ├── global_racetrajectory_optimization ├── .gitignore ├── LICENSE ├── Readme.md ├── frictionmap │ ├── __init__.py │ └── src │ │ ├── __init__.py │ │ ├── plot_frictionmap_data.py │ │ ├── plot_frictionmap_grid.py │ │ └── reftrack_functions.py ├── helper_funcs_glob │ ├── __init__.py │ └── src │ │ ├── __init__.py │ │ ├── calc_min_bound_dists.py │ │ ├── check_traj.py │ │ ├── export_traj_ltpl.py │ │ ├── export_traj_race.py │ │ ├── import_track.py │ │ ├── interp_track.py │ │ ├── prep_track.py │ │ └── result_plots.py ├── inputs │ ├── frictionmaps │ │ ├── Candidate.csv │ │ ├── berlin_2018_tpadata.json │ │ ├── berlin_2018_tpamap.csv │ │ ├── berlin_2018_varmue08-12_tpadata.json │ │ ├── berlin_2018_varmue09-11_tpadata.json │ │ ├── handling_track_tpadata.json │ │ ├── handling_track_tpamap.csv │ │ ├── modena2019_tpadata.json │ │ ├── modena2019_tpamap.csv │ │ ├── rounded_rectangle_tpadata.json │ │ └── rounded_rectangle_tpamap.csv │ ├── tracks │ │ ├── berlin_2018.csv │ │ ├── handling_track.csv │ │ ├── modena_2019.csv │ │ └── rounded_rectangle.csv │ └── veh_dyn_info │ │ ├── ax_max_machines.csv │ │ └── ggv.csv ├── main_gen_frictionmap.py ├── main_globaltraj.py ├── opt_mintime_traj │ ├── Readme.md │ ├── __init__.py │ ├── powertrain_src │ │ ├── Readme.md │ │ ├── __init__.py │ │ ├── component_losses.PNG │ │ ├── component_temperatures.PNG │ │ └── src │ │ │ ├── Battery.py │ │ │ ├── EMachine.py │ │ │ ├── Inverter.py │ │ │ ├── Radiators.py │ │ │ └── __init__.py │ ├── src │ │ ├── __init__.py │ │ ├── approx_friction_map.py │ │ ├── export_mintime_solution.py │ │ ├── extract_friction_coeffs.py │ │ ├── friction_map_interface.py │ │ ├── friction_map_plot.py │ │ ├── opt_mintime.py │ │ └── result_plots_mintime.py │ └── var_friction_berlin.png ├── opt_raceline_berlin.png ├── params │ └── racecar.ini └── requirements.txt ├── launch ├── demo.launch ├── demo_blackbox.launch └── demo_static.launch ├── models ├── cloverleaf_interchange │ ├── materials │ │ └── textures │ │ │ ├── arrow.png │ │ │ ├── concrete.png │ │ │ ├── cross.png │ │ │ ├── grass.png │ │ │ └── road.png │ ├── meshes │ │ ├── cloverleaf.mtl │ │ └── cloverleaf.obj │ ├── model.config │ └── model.sdf ├── construction_cone │ ├── materials │ │ └── textures │ │ │ └── Construction_Cone_Diffuse.png │ ├── meshes │ │ └── construction_cone.dae │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf ├── dumpster │ ├── materials │ │ ├── scripts │ │ │ └── dumpster.material │ │ └── textures │ │ │ ├── Dumpster_Diffuse.png │ │ │ └── Dumpster_Spec.png │ ├── meshes │ │ └── dumpster.dae │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf ├── gas_station │ ├── materials │ │ ├── scripts │ │ │ └── gas_station.material │ │ └── textures │ │ │ ├── GasStation_Diffuse.png │ │ │ ├── GasStation_Normal.png │ │ │ └── GasStation_Spec.png │ ├── meshes │ │ └── gas_station.dae │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf ├── grey_wall │ ├── materials │ │ ├── scripts │ │ │ └── grey_wall.material │ │ └── textures │ │ │ └── grey_wall.png │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf ├── house_1 │ ├── materials │ │ ├── scripts │ │ │ └── house_1.material │ │ └── textures │ │ │ ├── House_1_Diffuse.png │ │ │ ├── House_1_Normal.png │ │ │ └── House_1_Spec.png │ ├── meshes │ │ └── house_1.dae │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf ├── house_2 │ ├── materials │ │ ├── scripts │ │ │ └── house_2.material │ │ └── textures │ │ │ └── House_2_Diffuse.png │ ├── meshes │ │ └── house_2.dae │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf ├── house_3 │ ├── materials │ │ ├── scripts │ │ │ └── house_3.material │ │ └── textures │ │ │ └── House_3_Diffuse.png │ ├── meshes │ │ └── house_3.dae │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf ├── jersey_barrier │ ├── materials │ │ └── textures │ │ │ ├── jersey_barrier.png │ │ │ ├── jersey_barrier_diffuse.png │ │ │ └── jersey_barrier_spec.png │ ├── meshes │ │ └── jersey_barrier.dae │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf ├── mcity │ ├── materials │ │ └── textures │ │ │ ├── Asphalt.png │ │ │ ├── Brick.png │ │ │ ├── Buildings.png │ │ │ ├── Colors.png │ │ │ ├── Concrete_Ground.png │ │ │ ├── Crosswalk.png │ │ │ ├── Curb.png │ │ │ ├── Grass.png │ │ │ ├── Gravel.png │ │ │ ├── GuardRail.png │ │ │ ├── OverheadSignBase.png │ │ │ ├── OverheadSigns.png │ │ │ ├── RailroadGate.png │ │ │ ├── Road_Blank.png │ │ │ ├── Road_Blank_Light.png │ │ │ ├── Road_DoubleYellowLine.png │ │ │ ├── Road_DoubleYellowLine_Light.png │ │ │ ├── Road_SingleWhiteLine.png │ │ │ ├── StreetLamp_Short.png │ │ │ ├── StreetLamp_Tall.png │ │ │ ├── TrafficBarrel.png │ │ │ └── Tunnel.png │ ├── meshes │ │ ├── mcity.mtl │ │ └── mcity.obj │ ├── model.config │ └── model.sdf ├── powerplant │ ├── materials │ │ └── textures │ │ │ ├── __auto_.png │ │ │ ├── __auto_1.png │ │ │ ├── __auto_10.png │ │ │ ├── __auto_11.png │ │ │ ├── __auto_12.png │ │ │ ├── __auto_13.png │ │ │ ├── __auto_17.png │ │ │ ├── __auto_19.png │ │ │ ├── __auto_2.png │ │ │ ├── __auto_20.png │ │ │ ├── __auto_21.png │ │ │ ├── __auto_22.png │ │ │ ├── __auto_23.png │ │ │ ├── __auto_25.png │ │ │ ├── __auto_26.png │ │ │ ├── __auto_27.png │ │ │ ├── __auto_3.png │ │ │ ├── __auto_32.png │ │ │ ├── __auto_33.png │ │ │ ├── __auto_34.png │ │ │ ├── __auto_35.png │ │ │ ├── __auto_36.png │ │ │ ├── __auto_37.png │ │ │ ├── __auto_38.png │ │ │ ├── __auto_6.png │ │ │ ├── __auto_7.png │ │ │ ├── __auto_8.png │ │ │ └── __auto_9.png │ ├── meshes │ │ └── powerplant.dae │ ├── model-1_2.sdf │ ├── model-1_3.sdf │ ├── model-1_4.sdf │ ├── model.config │ └── model.sdf └── speed_limit_sign │ ├── materials │ └── textures │ │ ├── Speed_100.png │ │ ├── Speed_110.png │ │ ├── Speed_120.png │ │ ├── Speed_130.png │ │ ├── Speed_16.png │ │ ├── Speed_30.png │ │ ├── Speed_40.png │ │ ├── Speed_50.png │ │ ├── Speed_60.png │ │ ├── Speed_70.png │ │ ├── Speed_80.png │ │ ├── Speed_90.png │ │ ├── Speed_Spec.png │ │ ├── StopSign_Diffuse.png │ │ └── StopSign_Spec.png │ ├── meshes │ └── speed_limit_sign.dae │ ├── model-1_3.sdf 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