F1TENTH - Learn
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Getting Started

  • Start Here!

Overview

  • Introduction
  • Syllabus

Modules

  • Module A: Introduction to ROS, F110 & the Simulator
    • Lecture 1 - Introduction to Autonomous Driving: Perception, Planning Control
      • Tutorial 1: Introduction to ROS2
    • Lecture 2 - Automatic Emergency Braking
      • Tutorial 2 - Introduction to F1TENTH Simulator
    • Lecture 3 - Rigid Body Transformation
      • Tutorial 3 - ROS2 and tf2
  • Module B: Reactive Methods
    • Lecture 4 - Laplace Domain Dynamics & PID
      • Tutorial 4 - Getting to know the car and battery & safety
    • Lecture 5 - Follow the Gap: Obstacle Avoidance
    • Lecture 6 - Vehicle States and Vehicle Dynamics
  • Module C: Mapping & Localization
    • Lecture 7 - Filtering
    • Lecture 8 - Localization: Particle Filter
    • Lecture 9 - Introduction to Graph-based SLAM
      • Tutorial 5 - Running slam_toolbox and pf
    • Lecture 9 (Optional) - Scan Matching I & II
  • Module D: Planning & Control
    • Lecture 10 - Pure Pursuit
    • Lecture 11 - Local Planning: RRT, Spline Based Planner
  • Module E: Vision
    • Lecture 12 - Classical Perception
    • Lecture 13 - Machine Learning Perception
  • Module F: Special Topics
    • Lecture 20 - Raceline Optimization
    • Lecture 21 - Model Predictive Control
    • Lectures 22 - Moral Decision Making
    • Lectures 23-25 - Special Topics
  • Module G: F1TENTH Grand Prix!!
    • Lecture 26 - Project Demos
    • Lecture 27 - Race Prep
    • Lecture 28 - Race 3: F1TENTH Grand Prix!
  • Material Downloads

Assignments

  • Labs
    • Lab 1 - Introduction to ROS2
    • Lab 2 - Automatic Emergency Braking
    • Lab 3 - Wall Following
    • Lab 4 - Follow the Gap
    • Lab 5 - SLAM and Pure Pursuit
    • Lab 6 - Motion Planning
    • Lab 7 -Perception & Vision
    • Lab 8 - Perception and Planning
    • Lab 9 - Robot Ethics
    • Lab 5 - Scan Matching (Optional)
    • Solutions
  • Races
    • Race 1
    • Race 2
    • Race 3
  • Final Project
  • Grading Rubrics
    • Labs & Final Project
    • Races
      • Race 1 and Race 2
      • Race 3

Support

  • Logos
  • Contact
  • Acknowledgements
F1TENTH - Learn
  • Module B: Reactive Methods
  • Edit on GitHub

Module B: Reactive Methods¶

The second module goes over reactive method and ends with Race 1.

  • Lecture 4 - Laplace Domain Dynamics & PID
  • Lecture 5 - Follow the Gap: Obstacle Avoidance
  • Lecture 6 - Vehicle States and Vehicle Dynamics
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