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Dynamical System-Based Imitation Learning and Neuroadaptive Control for Trajectory Recovery in Autonomous Ships

arXiv · AI, language, vision and robotics · article · Aug 25, 2026 · UTC

Repetitive maritime operations can be effectively learned using the Imitation Learning (IL) paradigm, which transfers human expertise directly to Unmanned Surface Vehicle (USV) control systems. Dynamical Systems (DS) are widely used to model non-linear human demonstrations while offering inherent stability guarantees. However, real-world execution under persistent marine perturbations reveals a critical trade-off: standard DS-based IL approaches prioritize global target convergence at the expense of localized trajectory reproduction fidelity. To address this limitation, we present a hybrid lea

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