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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2512.02803 |
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| _version_ | 1866917495020978176 |
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| author | Petri, Tobias Baratto, Simone Trecate, Giancarlo Ferrari |
| author_facet | Petri, Tobias Baratto, Simone Trecate, Giancarlo Ferrari |
| contents | This paper presents the modeling of autonomous vehicles with high maneuverability used in an experimental framework for educational purposes. Since standard bicycle models typically neglect wide steering angles, we develop modified planar bicycle models and combine them with both parametric and non-parametric identification techniques that progressively incorporate physical knowledge. The resulting models are systematically compared to evaluate the tradeoff between model accuracy and computational requirements, showing that physics-informed neural network models surpass the purely physical baseline in accuracy at lower computational cost. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_02803 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | System Identification for Dynamic Modeling of Large Steering Angle Vehicles Petri, Tobias Baratto, Simone Trecate, Giancarlo Ferrari Systems and Control This paper presents the modeling of autonomous vehicles with high maneuverability used in an experimental framework for educational purposes. Since standard bicycle models typically neglect wide steering angles, we develop modified planar bicycle models and combine them with both parametric and non-parametric identification techniques that progressively incorporate physical knowledge. The resulting models are systematically compared to evaluate the tradeoff between model accuracy and computational requirements, showing that physics-informed neural network models surpass the purely physical baseline in accuracy at lower computational cost. |
| title | System Identification for Dynamic Modeling of Large Steering Angle Vehicles |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2512.02803 |