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.github/profile/README.md

iCPS Lab at West Virginia University

Welcome to the GitHub page of the Intelligent Cyber-Physical Systems Lab (iCPS Lab) at West Virginia University.

Our research focuses on autonomous systems, intelligent transportation, robotics, connected vehicles, reinforcement learning, and safe cyber-physical systems.

Research Areas

  • Autonomous vehicles
  • F1TENTH autonomous racing
  • Robotics and motion planning
  • ROS 2-based vehicle control
  • Reinforcement learning for autonomous driving
  • Learning-augmented classical control
  • LiDAR perception and 3D point-cloud learning
  • V2X and connected-vehicle communication
  • Safety-aware cyber-physical systems

Featured Projects

Learning-Augmented Autonomous Racing Controllers

Classical and Model-Based Controllers

Perception and Robotics

  • Lane segmentation and perception projects
  • ROS 2 / F1TENTH educational and research code
  • LiDAR and autonomous-driving experiments

Publications and Citation

Several repositories in this organization are associated with peer-reviewed research papers. If you use any repository in your research, please check the repository README and CITATION.cff file for the correct citation.

Maintainers

This organization contains research code and educational materials developed by members of the iCPS Lab at West Virginia University.

For questions about specific repositories, please open an issue in the corresponding repository.

Pinned Loading

  1. Learning-to-Tune-Pure-Pursuit-in-Autonomous-Racing-With-PPO Learning-to-Tune-Pure-Pursuit-in-Autonomous-Racing-With-PPO Public

    ROS 2 implementation of PPO-based lookahead and steering-gain tuning for Pure Pursuit in F1TENTH autonomous racing.

    Python 1

  2. Dynamic-Lookahead-Distance-via-Reinforcement-Learning-Based-Pure-Pursuit-for-Autonomous-Racing Dynamic-Lookahead-Distance-via-Reinforcement-Learning-Based-Pure-Pursuit-for-Autonomous-Racing Public

    ROS 2 implementation of reinforcement-learning-based dynamic lookahead tuning for Pure Pursuit in F1TENTH autonomous racing.

    Python 1

  3. Trajectory-Sampling-Predictive-Controller Trajectory-Sampling-Predictive-Controller Public

    ROS2 trajectory-sampling predictive controller for F1TENTH autonomous racing with raceline tracking and LiDAR-reactive obstacle avoidance.

    Python 1

  4. MPC MPC Public

    ROS 2 implementation of a kinematic MPC path-tracking controller for F1TENTH autonomous racing.

    Python

  5. LQR LQR Public

    ROS 2 implementation of an LQR path-tracking controller for F1TENTH autonomous racing.

    Python

  6. Lane-Segmentation Lane-Segmentation Public

    Python