ResearchBenchmarksCircle Tracking on Free-space Circle Tracking R=12 cm, T=8 s, XY horizontalFollow0.33RMSE (mm)MPC-0.65926.017912.69519.3721Jun 6, 2026Evaluation ResultsMethodMethodLinksRMSE (mm)Improvement FactorMPCController=MPCController=MPC2026.060.3377IMPController=IMPController=IMP2026.0625.06—