MOSAIC-SV: Real-Time Adaptive Identification of Vessel Dynamics
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A new paper introduces MOSAIC-SV, a real-time adaptive dynamics identification system for aquatic robots, enabling precise control without dedicated sensors.
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- arXiv Robotics — research abstractsMOSAIC-SV: Real-Time Adaptive Identification of Vessel Dynamics for the Control and Deployment of Aquatic Robots
This paper introduces MOSAIC-SV, a deployable real-time adaptive dynamics identification and control system for aquatic robots. It identifies a control-sufficient dynamics model from an engineering prior without dedicated trials and re-estimates it at every control step. The system uses a physically admissible unscented Kalman filter and a model predictive path integral controller to improve performance in simulation and field trials, achieving faster transit times and reduced motion prediction errors.
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