This repository contains the software stack developed by Team NitROS (Sorbonne University) for the ENS organized CoVAPSy (Course Voiture Autonome Paris Saclay) race.
All guides are available on this website.
The project aims to develop a fully autonomous vehicle based on ROS 2 and the Nav2 stack, capable of navigating a race track with speed and reliability. It integrates localization, path planning, and control to achieve smooth and efficient trajectory tracking in a constrained environment.
https://ajuton-ens.github.io/CourseVoituresAutonomesSaclay/
Dynamic Window Pure Pursuit
- F. Ohnishi, M. Takahashi, DWPP: Dynamic Window Pure Pursuit Considering Velocity and Acceleration Constraints. arXiv:2601.15006., 2026.
Smac Planner (Hybrid A*):
- S. Macenski, M. Booker, J. Wallace, Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics.