F1/10th: High-Speed Autonomous Racing Stack

Objective

Developed a modular autonomy stack for F1/10th-scale autonomous racing cars under Prof. John M. Dolan, leveraging 2D LiDAR and wheel encoder odometry for real-time state estimation and control. Implemented a LiDAR-based disparity extender for reactive obstacle avoidance, Extended Kalman Filter (EKF) for sensor fusion, and model predictive control (MPC) for trajectory tracking at high speeds. The system was deployed and demonstrated live at the Safety21 Expo, where it was presented to U.S. Secretary of Transportation Pete Buttigieg, highlighting Carnegie Mellon’s applied research in safe, high-performance autonomous driving and intelligent transportation systems.