ResearchBenchmarksPath Tracking on CSA Analogue Terrain Route TotalPath Tracking on CSA Analogue Terrain Route TotalFollow6.6Rover A RMSED-MPC6.276.4356.66.765Oct 21, 2025Evaluation resultsMethodMethodLinksRover A RMSERover A Max ErrorRover B RMSERover B Max ErrorD-MPCPath Length (m)=1341.8Path Length (m)=1341.82025.106.630.5854.8