### Car racing competition
The source codes are mainly adapted from Ugo's LMPC code and there are some lagacy features which are not used in our paper.

We simulate a car racing competition between several cars, and ego car's speed profile and control input are shown as follow,  

<img src="lmpc-speed-norm-profile.png" width="400">

<img src="lmpc-deviation-profile.png" width="400">

<img src="lmpc-input-profile.png" width="400">

The animation can be found on the top of this readme, we will release full code after the paper is accepted.