A Differentiable Composite Approximation Framework for Autonomous Underwater Vehicle Maneuvering Modeling from Sea-Trial Data
Field-based modeling from onboard measurements can produce autonomous underwater vehicle (AUV) maneuvering models that reflect real operating characteristics. From an approximation perspective, conventional maneuvering models use predefined constraint polynomial bases, whereas data-driven models use data-adaptive bases. Motivated by this basis-function view, this paper presents a differentiable composite-approximation formulation, in which the polynomial-basis component and the data-adaptive basis component are treated as differentiable parts of a single predictor and calibrated jointly. A gradient-based co-calibration method is developed for full-scale AUV maneuvering prediction, where a...
| Authors | Aobo Wang, Aifei Xia, Zihao Wang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 18 June 2026 |
| Last updated at source | 18 June 2026 |
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