Robust Trajectory Tracking of Autonomous Surface Vehicle via Lie Algebraic Online MPC

arXiv:2511.18683 · cs.RO · Submitted 2025-11-24 · Read on arXiv

cs.RO

Submitted: 2025-11-24

Updated: 2026-09-22

Terminology

• Feature Extraction — 5× in this paper · explained in 2 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Accuracy — 3× in this paper · explained in 1 episode
• Model Predictive Control — 3× in this paper
• PID Controller — 3× in this paper · explained in 2 episodes
• Core — 2× in this paper · explained in 2 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Adaptability — 1× in this paper · explained in 1 episode
• Alternating Minimization — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Deep Neural Network — 1× in this paper
• Generalization — 1× in this paper · explained in 13 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• System Identification — 1× in this paper · explained in 3 episodes

Sources

• Adaptive Control for Marine Vessels Against Harsh Environmental Variation
• A micro Lie theory for state estimation in robotics
• GPS-DRIFT: Marine Surface Robot Localization using IMU-GPS Fusion and Invariant Filtering

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