Racing towards autonomous excellence with cutting-edge algorithms
- Jisang Yun - Team Leader & Perception Lead
- EKF Odometry & Particle Filter Localization (C++)
- Competition Winner & Technical Visionary
- Jisang Yun - Team Leader
- EKF Odometry with IMU & Particle Filter Localization implementation
- Subin Park - SLAM Engineer
- EKF-SLAM implementation & mapping systems
- Yongwoo Kwon - Global Planning Lead
- Global trajectory planning & path optimization
- Jonghun Ahn - Local Planning Engineer
- Local path planning & obstacle avoidance
- Yunsang Jeong - Control Engineer
- Stanley controller & PID control systems
We are developing an autonomous F1Tenth racing car as part of the AILAB Summer Internship 2025 program. Our team focuses on three core areas:
| Perception | Planning | Control |
|---|---|---|
| Processing sensor data and environment understanding | Path planning and decision making algorithms | Vehicle control and actuation systems |
| EKF Odometry, Particle Filter, SLAM | Global & Local trajectory planning | Stanley controller, PID systems |
ultimate_f1thebeast_ws/
├── f1thebeast_ws/ # Main workspace for online execution
├── ekf_slam/ # Custom EKF-SLAM implementation
├── teleop-tools/ # Keyboard teleoperation tools
├── minimum_curvature_global_planner/ # Raceline Optimization with Minimum Curvature method
└── basecode_follow_the_gap/ # Beginner-friendly base code
Our organization maintains 16 active repositories covering various aspects of autonomous driving:
| Category | Repositories | Description |
|---|---|---|
| Core Systems | ekf_slam, particle_filter_localization |
EKF-SLAM mapping, Monte Carlo localization (C++) |
| Interfaces | teleop-tools, basecode_follow_the_gap |
Manual driving interface, Educational base code |
| Planning & Control | Global planning, Local planning, Control systems | Trajectory planning, Stanley & PID implementations |
| Workspace | f1thebeast_ws |
Production workspace, Launch configurations |
- ROS2 (Humble/Iron recommended)
- Ubuntu 22.04 LTS
- F1Tenth hardware platform
| Step | Command | Description |
|---|---|---|
| 1 | git clone --recursive <ultimate_f1thebeast_ws_url> |
Clone ultimate repository |
| 2 | git submodule update --init --recursive |
Initialize submodules |
| 3 | cd f1thebeast_ws && colcon build |
Build workspace |
| 4 | source install/setup.bash |
Source environment |
| User Level | Starting Point | Focus Areas |
|---|---|---|
| Beginners | basecode_follow_the_gap |
Understanding F1Tenth ROS2 topics and workflow |
| Developers | f1thebeast_ws |
Custom algorithm implementation and testing |
| Competition | f1thebeast_ws |
Fully integrated systems deployment |
Development Workflow:
- Use
teleop-toolsfor manual driving and system familiarization - Test localization with
ekf_slamandparticle_filter_localization - Ensure all submodules are up-to-date before competition runs
F1TheBeast - Racing towards autonomous excellence
AILAB Summer Internship 2025
