ResearchBenchmarksCircle Tracking on Free-space Circle Tracking R=12 cm, T=8 s, YZ frontalFollow0.2RMSE (mm)MPC-0.4423.89158.22512.5585Jun 6, 2026Evaluation ResultsMethodMethodLinksRMSE (mm)Relative Improvement FactorMPCController=MPCController=MPC2026.060.279IMPController=IMPController=IMP2026.0616.25—