Minimum-Lap-Time Planning of Multibody Vehicles via the Articulated-Body Algorithm

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Realtime simulation Realtime simulation
Minimum lap-time solution (overview) Minimum lap-time solution (overview)
Minimum lap-time solution (chase camera) Minimum lap-time solution (chase camera)
Minimum-lap-time solution (Formula SAE car) Minimum-lap-time solution (Formula SAE car)
Localization and mapping Localization and mapping
Drifting solution Drifting solution
Shake test (stiff) Shake test (stiff)
Simulation test: obstacle avoidance Simulation test: obstacle avoidance