Adaptive Racing Line Optimization

Additional materials for simulation and experiments.

Install

1. Build the docker image:

docker build -t adaptive-racing .

2. Run the docker image:

docker run -v $(pwd):/repo -it adaptive-racing /bin/bash

Running the experiments

0. Data generation

cd /repo/simulation/0_map_generation
make clean-all
make

1. Generate results for MM

pushd /repo/simulation/1_mm_optimization
# cma_*pushd cma_cgs
rm *log
julia -e "using Matryoshka; Matryoshka.configuration_load(\"matryoshka_ex.json\"); Matryoshka.execute()" --startup-file=no --project=/repo/simulation/Matryoshka.jl
popdpushd cma_ruudskogen
rm *log
julia -e "using Matryoshka; Matryoshka.configuration_load(\"matryoshka_ex.json\"); Matryoshka.execute()" --startup-file=no --project=/repo/simulation/Matryoshka.jl
popd# br_* / mm_*pushd br_cgs
make clean
make
popdpushd br_ruudskogen
make clean
make
popdpushd mm_cgs
make clean
make
popdpushd mm_ruudskogen
make clean
make
popdpopd

2. Generate results for comparison

cd /repo/simulation/2_tum_optimization
make clean
make

Citing

[1]: J. Klapálek, A. Novák, M. Sojka and Z. Hanzálek. Adapting to unknown environment conditions in autonomous racing competition using Iterative Learning Control. Robotics and Autonomous Systems. 2026, vol. 206 105711. doi: 10.1016/j.robot.2026.105711.