F1TENTH was founded in 2016 by a cohort of professors from the University of Pennsylvania to foster interest, excitement, and critical thinking in the field of autonomous racing. Carnegie Autonomous Racing established its F1TENTH team in February 2022, continuing the mission within Carnegie Mellon University’s community.
In May, the team competed in its inaugural race, the 10th F1TENTH Grand Prix at IRCA 2022. The team built a 1:10 scaled autonomous race car according to a given specification and wrote software for it to fulfill the objectives of the competition: Don’t crash and minimize lap time. The team advanced to the 2nd round before being eliminated.


David Held

Assistant Professor

Stanford University ‘00

David Held is an assistant professor at Carnegie Mellon University in the Robotics Institute and is the director of the RPAD (Robots Perceiving And Doing) Lab. His research focuses on perceptual robot learning and he has applied these ideas to robot manipulation and autonomous driving. Before coming to CMU, David was a post-doctoral researcher at U.C. Berkeley, and he completed his Ph.D. in Computer Science at Stanford University. David is a recipient of the Google Faculty Research Award in 2017 and the NSF CAREER Award in 2021.

Team Leads

Kavish Purani

Co-Team Lead

Developed code base such as Automatic Emergency Braking and Wall Following with PID. Oversaw all internal team organization and gathered resources for various projects such as building the test track.

Siddharth Ganagadhar

Co-Team Lead

Preparing and testing all the software subsystems, specifically: SLAM, particle filter localization, and a MPC.


GPU-Accelerated Lidar-Based Localization

Algorithm used for simulating the lidar’s behavior is also used in video games to generate volumetric cloud (raymarching). Use of well-tuned sparse optimization algorithms for motion trajectory generation and control execution.

Adaptive Safe Controls