ResearchBenchmarksPath Tracking on CSA Analogue Terrain Route ReversePath Tracking on CSA Analogue Terrain Route ReverseFollow4.1Rover A RMSED-MPC3.8953.99754.14.2025Oct 21, 2025Evaluation resultsMethodMethodLinksRover A RMSERover A Max ErrorRover B RMSERover B Max ErrorD-MPCPath Length (m)=219.6Path Length (m)=219.62025.104.126.45.626.7