Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Gaussian Process Model for Opponent Prediction in Autonomous Racing   In head-to-head racing, performing tightly constrained, but highly rewarding
maneuvers, such as overtaking, require an accurate model of interactive
behavior of the opposing target vehicle (TV). However, such information is not
typically made available in competitive scenarios, we therefore propose to
construct a prediction and uncertainty model given data of the TV from previous
races. In particular, a one-step Gaussian Process (GP) model is trained on
closed-loop interaction data to learn the behavior of a TV driven by an unknown
policy. Predictions of the nominal trajectory and associated uncertainty are
rolled out via a sampling-based approach and are used in a model predictive
control (MPC) policy for the ego vehicle in order to intelligently trade-off
between safety and performance when attempting overtaking maneuvers against a
TV. We demonstrate the GP-based predictor in closed loop with the MPC policy in
simulation races and compare its performance against several predictors from
literature. In a Monte Carlo study, we observe that the GP-based predictor
achieves similar win rates while maintaining safety in up to 3x more races. We
finally demonstrate the prediction and control framework in real-time on
hardware experiments.

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The categories of this paper are: atom-ph
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The categories of this paper are: solv-int
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The categories of this paper are: math-ph
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The categories of this paper are: cmp-lg
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The categories of this paper are: q-fin
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The categories of this paper are: nucl-th
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The categories of this paper are: funct-an
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The categories of this paper are: physics
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The categories of this paper are: hep-ph
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The categories of this paper are: math
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The categories of this paper are: patt-sol
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The categories of this paper are: gr-qc
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The categories of this paper are: nucl-ex
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The categories of this paper are: ao-sci
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The categories of this paper are: hep-ex
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The categories of this paper are: q-alg