AMZ Driverless: The Full Autonomous Racing System

This paper describes the algorithms and system architecture of an autonomous racecar. The presented 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 solutions from different fields of robotics - mainly perception, estimation and control - into one high performance autonomous racecar. This complex robotic system, developed by AMZ Driverless and ETH Zur