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arXiv · 2505.24320

DTR: Delaunay Triangulation-based Racing for Scaled Autonomous Racing

Luca Tognoni·Neil Reichlin·Edoardo Ghignone·Nicolas Baumann·Steven Marty·Liam Boyle·Michele Magno
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Abstract

Reactive controllers for autonomous racing avoid the computational overhead of full ee-Think-Act autonomy stacks by directly mapping sensor input to control actions, eliminating the need for localization and planning. A widely used reactive strategy is FTG, which identifies gaps in LiDAR range measurements and steers toward a chosen one. While effective on fully bounded circuits, FTG fails in scenarios with incomplete boundaries and is prone to driving into dead-ends, known as FTG-traps. This work presents DTR, a reactive controller that combines Delaunay triangulation, from raw LiDAR readings, with track boundary segmentation to extract a centerline while systematically avoiding FTG-traps. Compared to FTG, the proposed method achieves lap times that are 70\% faster and approaches the performance of map-dependent methods. With a latency of 8.95 ms and CPU usage of only 38.85\% on the robot's OBC, DTR is real-time capable and has been successfully deployed and evaluated in field experiments.

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Luca Tognoni, Neil Reichlin, Edoardo Ghignone, Nicolas Baumann, Steven Marty, Liam Boyle, Michele Magno. 2025-05-30. DTR: Delaunay Triangulation-based Racing for Scaled Autonomous Racing. https://arxiv.org/abs/2505.24320

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