# Racing With ROS 2 A Navigation System for an Autonomous Formula Student Race Car

arXiv: https://arxiv.org/abs/2311.14276 · HTML: https://mlsanity.com/paper/2311.14276/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 11 of its 26 references that are in the map.
- First posted on arXiv 24 Nov 2023.

## Builds on (most cited first, 11 of 11)

- [Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age](https://mlsanity.com/paper/1606.05830/) (2016)
- [Robot Operating System 2: Design, Architecture, and Uses In The Wild](https://mlsanity.com/paper/2211.07752/) (2022)
- [The Marathon 2: A Navigation System](https://mlsanity.com/paper/2003.00368/) (2020)
- [The Revisiting Problem in Simultaneous Localization and Mapping: A Survey on Visual Loop Closure Detection](https://mlsanity.com/paper/2204.12831/) (2022)
- [From the Desks of ROS Maintainers: A Survey of Modern & Capable Mobile Robotics Algorithms in the Robot Operating System 2](https://mlsanity.com/paper/2307.15236/) (2023)
- [A Comparison of Modern General-Purpose Visual SLAM Approaches](https://mlsanity.com/paper/2107.07589/) (2021)
- [Regulated Pure Pursuit for Robot Path Tracking](https://mlsanity.com/paper/2305.20026/) (2023)
- [Autonomous Driving System Design for Formula Student Driverless Racecar](https://mlsanity.com/paper/1809.07636/) (2018)
- [A RoboStack Tutorial: Using the Robot Operating System Alongside the Conda and Jupyter Data Science Ecosystems](https://mlsanity.com/paper/2104.12910/) (2021)
- [The Software Stack That Won the Formula Student Driverless Competition](https://mlsanity.com/paper/2210.10933/) (2022)
- [Occupancy Grid Based Reactive Planner](https://mlsanity.com/paper/2212.08764/) (2022)

## Abstract (arXiv)

The advent of autonomous vehicle technologies has significantly impacted various sectors, including motorsport, where Formula Student and Formula: Society of Automotive Engineers introduced autonomous racing classes. These offer new challenges to aspiring engineers, including the team at QUT Motorsport, but also raise the entry barrier due to the complexity of high-speed navigation and control. This paper presents an open-source solution using the Robot Operating System 2, specifically its open-source navigation stack, to address these challenges in autonomous Formula Student race cars. We compare off-the-shelf navigation libraries that this stack comprises of against traditional custom-made programs developed by QUT Motorsport to evaluate their applicability in autonomous racing scenarios and integrate them onto an autonomous race car. Our contributions include quantitative and qualitative comparisons of these packages against traditional navigation solutions, aiming to lower the entry barrier for autonomous racing. This paper also serves as a comprehensive tutorial for teams participating in similar racing disciplines and other autonomous mobile robot applications.