Localization-based software architecture for 1:10 scale autonomous car

We present a software architecture for 1:10 scale autonomous car, designed for F1/10 International Autonomous Racing Competition in Torino, Italy. The architecture is based on the fundamental concept of fusing odometry with laser scanner data, in order to achieve real-time localization allowing for efficient navigation on the specified racing track. The purpose of this paper is to provide an overview of the system and explain some of the main architectural decisions related to its implementation.