AUTONOMOUS RACING / BARCELONA

Dual Gatekeeper

MPPI mission and informative trajectories under bounded tire friction.

Sampled DRS · β = 0
SCENARIO 11% failure toleranceSame circuit · 1,000 rollouts per candidateSCENARIO 25% failure toleranceSame circuit · 1,000 rollouts per candidate
Friction case: Reference · μ = 0.85
MISSIONFollow camera · drag to orbit
0m/s

0 m travelled

Proposed uses one fixed, strongly informative candidate generator (γ = 2). The gatekeeper selects its execution through safety, predicted learning and the exploration budget. Only the weighted baseline varies γ.

Recorded results Same circuit, initial state, sensor and safety checks