System Identification and Control of Front-Steered Ackermann Vehicles through Differentiable Physics

Source code for IROS 2023 paper "System Identification and Control of Front-Steered Ackermann Vehicles through Differentiable Physics"

Paper is available on arXiv.
bag files are available on Google Drive, they need to be in the inhouse_sim folder for training.

Citation

If you find this work useful for your own ideas, please cite our paper:

@article{gonultas2023system,
  title={System Identification and Control of Front-Steered Ackermann Vehicles through Differentiable Physics},
  author={Gonultas, Burak M and Mukherjee, Pratik and Poyrazoglu, O Goktug and Isler, Volkan},
  journal={arXiv preprint arXiv:2308.03898},
  year={2023}
}