Optimization for Docking an Autonomous Surface Vehicle in a Dynamic Environment

Run Script

Simulate an optimization for one or more algorithms.

Example usage

# Single method
python run.py -v

# Multiple methods compared side by side
python run.py -v -b -m

# With error plots
python run.py -v --plot

Algorithm arguments

• -v: vanilla linear MPC
• -n: vanilla non-linear MPC
• -b: Bilevel optimization
• -m: Non-linear monolevel optimization

Replay Script

Plays back the docking maneuver from a run in the data folder

Example usage

# Single method
python replay.py --target_folder data/run_20260412_190813 -v

# Multiple methods compared side by side
python replay.py --target_folder data/run_20260412_190813 -v -b -m

# With custom playback speed and error plots
python replay.py --target_folder data/run_20260412_190813 -v --speed 3.0 --plot

Algorithm arguments

Same as run script.