AUV Locomotion Control on Pool Experiment
1.612Power (W)Strouhal-aware MPC
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Strouhal-aware MPCBody Velocity [m/s]=0.1, Synchronization=Asynchronous2026.07 | 1.612 | 15.1 | 0.0465 | 0.2402 | |
| Strouhal-aware MPCBody Velocity [m/s]=0.1, Synchronization=Synchronized2026.07 | 1.732 | 8.8 | 0.0486 | 0.2626 | |
| BaselineBody Velocity [m/s]=0.12026.07 | 1.9 | 0 | 0.0446 | 0.3632 | |
| Strouhal-aware MPCBody Velocity [m/s]=0.2, Synchronization=Asynchronous2026.07 | 2.212 | 32 | 0.0321 | 0.1918 | |
| Strouhal-aware MPCBody Velocity [m/s]=0.2, Synchronization=Synchronized2026.07 | 2.262 | 30.4 | 0.0426 | 0.2349 | |
| Strouhal-aware MPCBody Velocity [m/s]=0.3, Synchronization=Synchronized2026.07 | 2.686 | 27.9 | 0.037 | 0.0544 | |
| Strouhal-aware MPCBody Velocity [m/s]=0.3, Synchronization=Asynchronous2026.07 | 3.049 | 18.1 | 0.0389 | 0.0558 | |
| BaselineBody Velocity [m/s]=0.22026.07 | 3.251 | 0 | 0.0355 | 0.9507 | |
| Strouhal-aware MPCBody Velocity [m/s]=0.4, Synchronization=Asynchronous2026.07 | 3.341 | — | 0.0754 | 0.0247 | |
| Strouhal-aware MPCBody Velocity [m/s]=0.4, Synchronization=Synchronized2026.07 | 3.386 | — | 0.0654 | 0.037 | |
| BaselineBody Velocity [m/s]=0.32026.07 | 3.724 | 0 | 0.0234 | 0.378 |