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autonomous-drifting

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Gelminaio / drift-mpc-ackermann

Nonlinear MPC for autonomous drifting on a 1:10 Ackermann vehicle, with online friction estimation. ROS 2 + ESP32.

robotics mpc control-systems state-estimation ros2 model-predictive-control micro-ros acados ackermann-steering autonomous-drifting

Updated Jul 22, 2026
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