{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/spline-based-minimum-curvature-trajectory","title":"Spline-Based Minimum-Curvature Trajectory Optimization for Autonomous Racing","arxiv_id":"2309.09186","date":"2023-09-17","proceeding":null,"authors":["Haoru Xue","Tianwei Yue","John M. Dolan"],"abstract":"We propose a novel B-spline trajectory optimization method for autonomous racing. We consider the unavailability of sophisticated race car and race track dynamics in early-stage autonomous motorsports development and derive methods that work with limited dynamics data and additional conservative constraints. We formulate a minimum-curvature optimization problem with only the spline control points as optimization variables. We then compare the current state-of-the-art method with our optimization result, which achieves a similar level of optimality with a 90% reduction on the decision variable dimension, and in addition offers mathematical smoothness guarantee and flexible manipulation options. We concurrently reduce the problem computation time from seconds to milliseconds for a long race track, enabling future online adaptation of the previously offline technique.","url_abs":"https://arxiv.org/abs/2309.09186v1","url_pdf":"https://arxiv.org/pdf/2309.09186v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"spline-based-minimum-curvature-trajectory","repo_url":"https://github.com/haoruxue/spline-trajectory-optimization","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}