Towards the Design of Robotic Drivers for Full-Scale Self-Driving Racing Cars

We report on the development of a planning and control framework for an electric full scale autonomous racing car. We describe the whole control system architecture including the mapping and localization methods employed. We also report on novel experimental results obtained within the Roborace Localization challenge, whose first edition took place in Zala Zone1 track in August 2019, related to an informed version of Adaptive Monte Carlo Localization developed for the racing scenario