Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Track based Offline Policy Learning for Overtaking Maneuvers with
  Autonomous Racecars   The rising popularity of driver-less cars has led to the research and
development in the field of autonomous racing, and overtaking in autonomous
racing is a challenging task. Vehicles have to detect and operate at the limits
of dynamic handling and decisions in the car have to be made at high speeds and
high acceleration. One of the most crucial parts in autonomous racing is path
planning and decision making for an overtaking maneuver with a dynamic opponent
vehicle. In this paper we present the evaluation of a track based offline
policy learning approach for autonomous racing. We define specific track
portions and conduct offline experiments to evaluate the probability of an
overtaking maneuver based on speed and position of the ego vehicle. Based on
these experiments we can define overtaking probability distributions for each
of the track portions. Further, we propose a switching MPCC controller setup
for incorporating the learnt policies to achieve a higher rate of overtaking
maneuvers. By exhaustive simulations, we show that our proposed algorithm is
able to increase the number of overtakes at different track portions.

22
The categories of this paper are: chao-dyn
25
The categories of this paper are: patt-sol
2
The categories of this paper are: math
26
The categories of this paper are: bayes-an
17
The categories of this paper are: q-fin
15
The categories of this paper are: nucl-ex
23
The categories of this paper are: solv-int
0
The categories of this paper are: hep-ph
30
The categories of this paper are: q-alg
18
The categories of this paper are: econ
6
The categories of this paper are: astro-ph
16
The categories of this paper are: stat
24
The categories of this paper are: dg-ga
33
The categories of this paper are: plasm-ph
7
The categories of this paper are: hep-th
8
The categories of this paper are: hep-ex