mlsanityData to 14 Oct 2026

AMZ Driverless: The Full Autonomous Racing System

arXiv 1905.05150 ↗First posted 13 May 2019cs.ROcited by 29

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Abstract (arXiv)

This paper presents the algorithms and system architecture of an autonomous racecar. The introduced vehicle is powered by a software stack designed for robustness, reliability, and extensibility. In order to autonomously race around a previously unknown track, the proposed solution combines state of the art techniques from different fields of robotics. Specifically, perception, estimation, and control are incorporated into one high-performance autonomous racecar. This complex robotic system, developed by AMZ Driverless and ETH Zurich, finished 1st overall at each competition we attended: Formula Student Germany 2017, Formula Student Italy 2018 and Formula Student Germany 2018. We discuss the findings and learnings from these competitions and present an experimental evaluation of each module of our solution.

Key facts. Cited by 29 papers in the map (data through 14 Oct 2026). First posted on arXiv 13 May 2019.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 4; 2022: 4; 2023: 4; 2024: 5; 2025: 10; 2026: 2.

29 papers.

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  1. 2022Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racingcited by 64
  2. 2021Latent Imagination Facilitates Zero-Shot Transfer in Autonomous Racingcited by 26
  3. 2021Vision-Based Autonomous Car Racing Using Deep Imitative Reinforcement Learningcited by 21
  4. 2022Indy Autonomous Challenge -- Autonomous Race Cars at the Handling Limitscited by 11
  5. 2024When to Sense and Control? A Time-adaptive Approach for Continuous-Time RLcited by 9
  6. 2022TC-Driver: Trajectory Conditioned Driving for Robust Autonomous Racing -- A Reinforcement Learning Approachcited by 8
  7. 2024Bridging the Sim-to-Real Gap with Bayesian Inferencecited by 8
  8. 2025SPiDR: A Simple Approach for Zero-Shot Safety in Sim-to-Real Transfercited by 8
  9. 2025SOMBRL: Scalable and Optimistic Model-Based RLcited by 7
  10. 2023Data-Efficient Task Generalization via Probabilistic Model-based Meta Reinforcement Learningcited by 6
  11. 2025Performance-driven Constrained Optimal Auto-Tuner for MPCcited by 6
  12. 2026Safe Exploration via Policy Priorscited by 6
17 more
  1. 2025Uncertainty-Aware Autonomous Vehicles: Predicting the Road Aheadcited by 5
  2. 2022Zero-Order Optimization for Gaussian Process-based Model Predictive Controlcited by 4
  3. 2023A Tricycle Model to Accurately Control an Autonomous Racecar with Locked Differentialcited by 4
  4. 2024NeoRL: Efficient Exploration for Nonepisodic RLcited by 4
  5. 2023er.autopilot 1.0: The Full Autonomous Stack for Oval Racing at High Speedscited by 3
  6. 2021Real-Time Optimal Trajectory Planning for Autonomous Vehicles and Lap Time Simulation Using Machine Learningcited by 2
  7. 2024Fast and Modular Autonomy Software for Autonomous Racing Vehiclescited by 2
  8. 2026TurboMPC: Fast, Scalable, and Differentiable Model Predictive Control on the GPUcited by 2
  9. 2023Model Parameter Identification via a Hyperparameter Optimization Scheme for Autonomous Racing Systemscited by 1
  10. 2024Deep Reinforcement Learning for Local Path Following of an Autonomous Formula SAE Vehiclecited by 1
  11. 2025On learning racing policies with reinforcement learningcited by 1
  12. 2025Safe and Near-Optimal Control with Online Dynamics Learningcited by 1
  13. 2025TARC: Time-Adaptive Robotic Controlcited by 1
  14. 2021MODISSA: a multipurpose platform for the prototypical realization of vehicle-related applications using optical sensorscited by 0
  15. 2025An Evolutionary Game-Theoretic Merging Decision-Making Considering Social Acceptance for Autonomous Drivingcited by 0
  16. 2025Simulation Priors for Data-Efficient Deep Learningcited by 0
  17. 2025A Modular Architecture Design for Autonomous Driving Racing in Controlled Environmentscited by 0