ResearchBenchmarksCircle Tracking on Free-space Circle Tracking R=12 cm, T=8 s, XZ→XY tiltedFollow0.31RMSE (mm)MPC-0.68046.004812.6919.3752Jun 6, 2026Evaluation ResultsMethodMethodLinksRMSE (mm)Relative ImprovementMPCController=MPCController=MPC2026.060.3180IMPController=IMPController=IMP2026.0625.07—