CurviTrack: Curvilinear Trajectory Tracking for High-speed Chase of a USV
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arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866916635776909312 |
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| author | Gupta, Parakh M. Procházka, Ondřej Nascimento, Tiago Saska, Martin |
| author_facet | Gupta, Parakh M. Procházka, Ondřej Nascimento, Tiago Saska, Martin |
| contents | Heterogeneous robot teams used in marine environments incur time-and-energy penalties when the marine vehicle has to halt the mission to allow the autonomous aerial vehicle to land for recharging. In this paper, we present a solution for this problem using a novel drag-aware model formulation which is coupled with MPC, and therefore, enables tracking and landing during high-speed curvilinear trajectories of an USV without any communication. Compared to the state-of-the-art, our approach yields 40% decrease in prediction errors, and provides a 3-fold increase in certainty of predictions. Consequently, this leads to a 30% improvement in tracking performance and 40% higher success in landing on a moving USV even during aggressive turns that are unfeasible for conventional marine missions. We test our approach in two different real-world scenarios with marine vessels of two different sizes and further solidify our results through statistical analysis in simulation to demonstrate the robustness of our method. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_21303 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | CurviTrack: Curvilinear Trajectory Tracking for High-speed Chase of a USV Gupta, Parakh M. Procházka, Ondřej Nascimento, Tiago Saska, Martin Robotics Systems and Control Heterogeneous robot teams used in marine environments incur time-and-energy penalties when the marine vehicle has to halt the mission to allow the autonomous aerial vehicle to land for recharging. In this paper, we present a solution for this problem using a novel drag-aware model formulation which is coupled with MPC, and therefore, enables tracking and landing during high-speed curvilinear trajectories of an USV without any communication. Compared to the state-of-the-art, our approach yields 40% decrease in prediction errors, and provides a 3-fold increase in certainty of predictions. Consequently, this leads to a 30% improvement in tracking performance and 40% higher success in landing on a moving USV even during aggressive turns that are unfeasible for conventional marine missions. We test our approach in two different real-world scenarios with marine vessels of two different sizes and further solidify our results through statistical analysis in simulation to demonstrate the robustness of our method. |
| title | CurviTrack: Curvilinear Trajectory Tracking for High-speed Chase of a USV |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2502.21303 |