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F1Tenth - Autoware

Enrollment is Closed

About This Course

Whether it's well-known car manufacturer like Tesla or new technology companies like Google: many different companies are working on the development of autonomous vehicles. This emerging field provides a lot of potential and if you are interested in learning the foundations of autonomous driving, then this course is for you.

But don't be worried about that this is another theory-only lecture series: In this course we will work hands-on and lab centered for everyone who is interested in the field of artificial intelligence, motion planning, control theory, and applied machine learning. From the very beginning we will introduce you to both a simulation environment and real hardware: Our 1/10th-scale autonomous race car.

We will not only teach you the fundamentals of autonomous driving in the field of perception, planning and control and how to program them. We will also show you how to bring your autonomous driving algorithms on the real F1TENTH Hardware. By focusing on the racing environment you will also learn how to develop algorithms that operate on the edge of vehicle dynamics: High accelerations, high velocities and high computation frequencies.

In the 15 week course we will provide you the most comprehensive learning experience in the field of autonomous driving and teach you about the theory and programming of methods and algorithms in the field of perception, mapping, localization, trajectory planning and control. As an add on we will have a discussion about the moral implications of autonomous systems.

What you'll learn

After attending the course you will have a comprehensive overview of the perception, planning and control methods used in autonomous driving. You will be able to select the appropriate method and algorithm for various autonomous driving problems and then implement it with appropriate code. In addition you are able to program the F1TENTH Autonomous Race car to drive fast and safe around a racetrack. In addition you will learn:

  • Introduction to the ROS framework
  • Refresh your control theory knowledge
  • Control theory and control application
  • Introduction to an Simulator for autonomous driving
  • Different techniques for localization of the car
  • Different techniques for the fast and secure path planning
  • Different methods for calculating the raceline for a given track
  • Different methods for detection an object
  • The deployment of software on real hardware
  • GPU acceleration for Machine Learning algorithms
  • Differences between SiL and HiL development
  • Head-to-Head racing
  • Differences between SiL and HiL development
  • Analytics skills to recognize and reason about situations with moral content


This course is an integration of the concepts above and is not intended to be a beginner course in any of the above subjects. As of right now, the contents on this website are best suited for the graduate-level if not at the very least an undergraduate senior-level course.

Course Staff

Course Staff Image #1

Prof. Dr. Rahul Mangharam

Rahul Mangharam is an Associate Professor in the Department of Electrical and Systems Engineering at the University of Pennsylvania. He is a founding member of the PRECISE Center and directs the Safe Autonomous Systems Lab at Penn. His research is at the intersection of formal methods, machine learning and controls for medical devices, energy efficient buildings and autonomous systems.

Course Staff Image #2

Dr. Johannes Betz

Johannes is a postdoctoral researcher at the University of Pennslyvania where he is working at the mLab: Real-Time and Embedded Systems Lab. In his current research he is focusing on the development of algorithms for autonomous vehicles – mostly for vehicles the operate on the limit of handling. This research also includes the integration of ethics for Level-5 autonomous vehicles.

Frequently Asked Questions

What web browser should I use?

The Open edX platform works best with current versions of Chrome, Edge, Firefox, Internet Explorer, or Safari. See our list of supported browsers for the most up-to-date information.

Do i need to buy and built the F1Tenth Hardware?

The car is an additional add-on and provides you the important insight in the deployment of the software on real hardware.

  1. Course Number

  2. Classes Start

  3. Classes End

  4. Estimated Effort

    20 hours per Week