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Constraint-Unified MPC for Over-Actuated Surface Vehicles with Post-Detection Fault Reconfiguration

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Choreographed aquatic performances require small autonomous surface vehicles to track precise paths under per-thruster force and rate limits, including after thruster failures. We report a deployed system in which trajectory tracking, thrust allocation, and the per-thruster force and rate limits are resolved in a single quadratic program over the per-thruster commands, with fault reconfiguration entering through one binary flag per thruster from an external detector. The system has driven a fleet in live performances on Lake Zürich and at the Time Space Existence 2025 exhibition in Venice. The

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