A Differentiable Composite Approximation Framework for Autonomous Underwater Vehicle Maneuvering Modeling from Sea-Trial Data

Published June 19, 2026 · Category: Robotics

Overview

arXiv:2606.19711v1 Announce Type: new Abstract: 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 sensitivity-aware mechanism regulates bounded polynomial updates while the neural residual captures remaining nonlinear discrepancies under a shared prediction objective. To account for ocean-current effects in field data, a turning-motion-based current estimation and compensation procedure is incorporated to construct current-compensated learning targets for training and rollout. The framework is evaluated using sea-trial data collected from a 7-meter AUV under multiple maneuvering conditions. Results show that the proposed method improves recursive trajectory and velocity prediction compared with polynomial-only, neural-only, and frozen-prior hybrid baselines, demonstrating its applicability to field-data-based AUV maneuvering modeling.

Source

Originally published at arxiv.org.

Related Articles

• pdSTL: Probabilistic Differentiable Signal Temporal Logic for Stochastic Systems
• Fail-RAG : A Retrieval Augmented Generation Informed Framework for Robot Failure Identification
• CTS-MoE: Implicit Terrain Adaptation via Mixture-of-Experts for Perceptive Locomotion