Velocity-tracking on 10-lap circular task in Gazebo simulation
0.0229Velocity XSRB-MPC
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| SRB-MPCModel Type=Nonlinear MPC, Prediction Horizon (N)=8, Update Rate=100 Hz2026.04 | 0.0229 | 0.0196 | 0.0172 | 0.091 | 0.0967 | 0.3368 | 1.4 | |
| RK-MPCModel Type=Residual Koopman MPC, Prediction Horizon (N)=8, Update Rate=100 Hz2026.04 | 0.0232 | 0.0195 | 0.0177 | 0.0925 | 0.0982 | 0.0938 | 0.89 | |
| SE3-KMPCModel Type=EDMD-SE(3) based MPC, Prediction Horizon (N)=8, Update Rate=100 Hz2026.04 | 0.0686 | 0.0877 | 0.1374 | 1.0646 | 0.7421 | 0.2936 | 1.57 |