Abstract:
We present Look-Back and Look-Ahead Adaptive Model Predictive Control (LLA-MPC), a real-time adaptive control framework for autonomous racing that addresses the challenge of rapidly changing tire-surface interactions. Unlike existing approaches requiring substantial data collection or offline training, LLA-MPC employs a model bank for immediate adaptation without a learning period. It integrates two key mechanisms: a look-back window that evaluates recent vehicle behavior to select the most accurate model and a look-ahead horizon that optimizes trajectory planning based on the identified dynamics. The selected model and estimated friction coefficient are then incorporated into a trajectory planner to optimize reference paths in real-time. Experiments across diverse racing scenarios demonstrate that LLA-MPC outperforms state-of-the-art methods in adaptation speed and handling, even during sudden friction transitions. Its learningfree, computationally efficient design enables rapid adaptation, making it ideal for high-speed autonomous racing in multisurface environments.
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@conference{AL-Sunni-2025-149797,
author = {Maitham F. Al-sunni And Hassan Almubarak And Katherine Horng And John M. Dolan},
title = {LLA-MPC: Fast Adaptive Control for Autonomous Racing},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2025},
month = {October},
keywords = {model predictive control, adaptive control, model uncertainty, trajectory planning, autonomous racing},
}
author = {Maitham F. Al-sunni And Hassan Almubarak And Katherine Horng And John M. Dolan},
title = {LLA-MPC: Fast Adaptive Control for Autonomous Racing},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2025},
month = {October},
keywords = {model predictive control, adaptive control, model uncertainty, trajectory planning, autonomous racing},
}