Sequential Convex Programming Methods for Real-time Trajectory Optimization in Autonomous Vehicle Racing

<div>We present a real-time-capable Model Predictive Controller (MPC) based on a single-track vehicle model and Pacejka’s magic tire formula for autonomous racing applications. After formulating the general non-convex trajectory optimization problem, the model is linearized around estimated operating points and the constraints are convexified using the Sequen- tial Convex Programming (SCP) method. We use two different methods to convexify the non-convex track constraints, namely Sequential Linearization (SL) and Sequential Convex Restriction (SCR). SL, a method of relaxing the constraints, was introduced in our previous paper. SCR, a method of restricting the con- straints, is introduced in this paper. We show the application of SCR to autonomous racing and prove that it does not interfere with recursive feasibility. We compare the predicted trajectory quality for the nonlinear single-track model to the linear double integrator model from our previous paper. The MPC performance is evaluated on a scaled version of the Hockenheimring racing track. We show that an MPC with SCR yields faster lap times than an MPC with SL – for race starts as well as flying laps – while still being real-time capable. A video showing the results is available at https://youtu.be/21iETsolCNQ.<br></div>

Sequential Convex Programming Methods for Real-time Trajectory Optimization in Autonomous Vehicle Racing

<div>We present a real-time-capable Model Predictive Controller (MPC) based on a single-track vehicle model and Pacejka’s magic tire formula for autonomous racing applications. After formulating the general non-convex trajectory optimization problem, the model is linearized around estimated operating points and the constraints are convexified using the Sequen- tial Convex Programming (SCP) method. We use two different methods to convexify the non-convex track constraints, namely Sequential Linearization (SL) and Sequential Convex Restriction (SCR). SL, a method of relaxing the constraints, was introduced in our previous paper. SCR, a method of restricting the con- straints, is introduced in this paper. We show the application of SCR to autonomous racing and prove that it does not interfere with recursive feasibility. We compare the predicted trajectory quality for the nonlinear single-track model to the linear double integrator model from our previous paper. The MPC performance is evaluated on a scaled version of the Hockenheimring racing track. We show that an MPC with SCR yields faster lap times than an MPC with SL – for race starts as well as flying laps – while still being real-time capable. A video showing the results is available at https://youtu.be/21iETsolCNQ.<br></div>

Estimating Fisher discriminant error in a linear integrator model of neural population activity

Decoding approaches provide a useful means of estimating the information contained in neuronal circuits. In this work, we analyze the expected classification error of a decoder based on Fisher linear discriminant analysis. We provide expressions that relate decoding error to the specific parameters of a population model that performs linear integration of sensory input. Results show conditions that lead to beneficial and detrimental effects of noise correlation on decoding. Further, the proposed framework sheds light on the contribution of neuronal noise, highlighting cases where, counter-intuitively, increased noise may lead to improved decoding performance. Finally, we examined the impact of dynamical parameters, including neuronal leak and integration time constant, on decoding. Overall, this work presents a fruitful approach to the study of decoding using a comprehensive theoretical framework that merges dynamical parameters with estimates of readout error.

A sensory integration account for time perception

The connection between stimulus perception and time perception remains unknown. The present study combines human and rat psychophysics with sensory cortical neuronal firing to construct a computational model for the percept of elapsed time embedded within sense of touch. When subjects judged the duration of a vibration applied to the fingertip (human) or whiskers (rat), increasing stimulus intensity led to increasing perceived duration. Symmetrically, increasing vibration duration led to increasing perceived intensity. We modeled real spike trains recorded from vibrissal somatosensory cortex as input to dual leaky integrators–an intensity integrator with short time constant and a duration integrator with long time constant–generating neurometric functions that replicated the actual psychophysical functions of rats. Returning to human psychophysics, we then confirmed specific predictions of the dual leaky integrator model. This study offers a framework, based on sensory coding and subsequent accumulation of sensory drive, to account for how a feeling of the passage of time accompanies the tactile sensory experience.

GESTIÓN SOSTENIBLE DE LOS HERITAGE SITES CULTURALES: PROPUESTA DE UN MODELO

La gestión sostenible de los bienes de patrimonio histórico demanda sistemas de control de gestión que contemplen sus particularidades. El objetivo de este trabajo es el diseño de un modelo de control holístico, contingente e integrador a emplear por los responsables públicos y/o privados de su gestión. Se ha realizado una profunda revisión bibliográfica de la literatura. El modelo propuesto no pretende ser universal, sino un punto de referencia para su adaptación a las particularidades propias de cada bien. Incluye indicadores que permitirán medir y valorar el logro de los objetivos. The requirement of a sustainable management of the historical heritage sites demands the design of management control models that contemplate the particularities of those sites, beyond the architectural ones. The goal of this paper is the design of a holistic, contingent and integrator model to be used by the public and/or private managers for the sustainable management. To achieve this, a thorough bibliographic review of the specialized literature has been carried out. This model does not pretend to be universal but rather a point of reference for its adaptation to the particularities of each site.

A sensory integration account for time perception

ABSTRACTThe connection between stimulus perception and time perception remains unknown. The present study combines human and rat psychophysics with sensory cortical neuronal firing to construct a computational model for the percept of elapsed time embedded within sense of touch. When subjects judged the duration of a vibration applied to the fingertip (human) or whiskers (rat), increasing stimulus mean speed led to increasing perceived duration. Symmetrically, increasing vibration duration led to increasing perceived intensity. We modeled spike trains from vibrissal somatosensory cortex as input to dual leaky integrators – an intensity integrator with short time constant and a duration integrator with long time constant – generating neurometric functions that replicated the actual psychophysical functions of rats. Returning to human psychophysics, we then confirmed specific predictions of the dual leaky integrator model. This study offers a framework, based on sensory coding and subsequent accumulation of sensory drive, to account for how a feeling of the passage of time accompanies the tactile sensory experience.