In this work, we develop a comprehensive local planning strategy to implement during F1TENTH races
consisting of a reactive planner using the ’disparity extender’ strategy as well as a planner based on B-splines
to handle overtakes.
F1Tenth is an international community of researchers, engineers, and autonomous systems enthusiasts founded
at the University of Pennsylvania in 2016 [3]. F1Tenth’s mission is to provide an open-source platform for autonomous
systems research and education, along with holding a number of autonomous race car competitions
each year where teams from all around the world gather to compete.
As of last year, the Technion has fielded an F1TENTH Team in international competitions. As part of this effort
we have developed a local planning strategy to be able to cope with different situations that might arise during
the F1TENTH competition that require the robot to plan a trajectory given dynamic data.
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