UNICORN Autonomous Racing Stack

This repository introduces the race stack of the Unicorn team, which won 2nd place at The 24th Roborace Autonomous Grand Prix Competition held at ICRA 2025 in Atlanta, USA.

Check our Race highlight on Youtube!:

Note: Click on the thumbnails to watch the videos.

Installation

We provide an race stack installation guide.
INSTALLATION.md.
Also, you must read this file carefully.
READYTORUN.md.

Getting started

After installation, the car (or the simulation environment) is ready to be tested. For examples on how to run the different modules on the car, refer to the stack_master README.

Acknowledgement

This project would not be possible without the use of multiple great open-sourced code bases as listed below: This project benefited greatly from the open-sourced code provided by ForzaETH, particularly in areas ranging from installation methods to the overall autonomous racing architecture. We would also like to acknowledge the use of other excellent open-source projects listed below:

• F1TENTH Racecar Simulator
• Veddar VESC Interface
• Cartographer
• Cartographer ROS Integration
• global_racetrajectory_optimization