IIT Bombay Racing Driverless: Autonomous Driving Stack for Formula Student AI
<|reference_start|>IIT Bombay Racing Driverless: Autonomous Driving Stack for Formula Student AI: This work presents the design and development of IIT Bombay Racing's Formula Student style autonomous racecar algorithm capable of running at the racing events of Formula Student-AI, held in the UK. The car employs a cutting-edge sensor suite of the compute unit NVIDIA Jetson Orin AGX, 2 ZED2i stereo cameras, 1 Velodyne Puck VLP16 LiDAR and SBG Systems Ellipse N GNSS/INS IMU. It features deep learning algorithms and control systems to navigate complex tracks and execute maneuvers without any human intervention. The design process involved extensive simulations and testing to optimize the vehicle's performance and ensure its safety. The algorithms have been tested on a small scale, in-house manufactured 4-wheeled robot and on simulation software. The results obtained for testing various algorithms in perception, simultaneous localization and mapping, path planning and controls have been detailed.<|reference_end|>
@article{rampuria2024iit,
    title={IIT Bombay Racing Driverless: Autonomous Driving Stack for Formula
  Student AI},
    author={Yash Rampuria, Deep Boliya, Shreyash Gupta, Gopalan Iyengar, Ayush
  Rohilla, Mohak Vyas, Chaitanya Langde, Mehul Vijay Chanda, Ronak Gautam
  Matai, Kothapalli Namitha, Ajinkya Pawar, Bhaskar Biswas, Nakul Agarwal,
  Rajit Khandelwal, Rohan Kumar, Shubham Agarwal, Vishwam Patel, Abhimanyu
  Singh Rathore, Amna Rahman, Ayush Mishra, Yash Tangri},
    journal={arXiv preprint arXiv:2408.06113},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.06113},
    primaryClass={cs.RO}
}