Predictive Spliner: Data-Driven Overtaking in Autonomous Racing Using Opponent Trajectory Prediction. - Nicolas Baumann; Edoardo Ghignone; Cheng Hu; Benedict Hildisch; Tino Hämmerle; Alessandro Bettoni; Andrea Carron; Lei Xie 007; Michele Magno (IEEE Robotics Autom. Lett., 2025)