{"id":"https://openalex.org/W7139021611","doi":"https://doi.org/10.48550/arxiv.2603.16407","title":"Onboard MuJoCo-based Model Predictive Control for Shipboard Crane with Double-Pendulum Sway Suppression","display_name":"Onboard MuJoCo-based Model Predictive Control for Shipboard Crane with Double-Pendulum Sway Suppression","publication_year":2026,"publication_date":"2026-03-17","ids":{"openalex":"https://openalex.org/W7139021611","doi":"https://doi.org/10.48550/arxiv.2603.16407"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.16407","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16407","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.16407","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129948382","display_name":"Oscar Pang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pang, Oscar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093257151","display_name":"Lisa Coiffard","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Coiffard, Lisa","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072985493","display_name":"Paul Templier","orcid":"https://orcid.org/0000-0001-8919-8639"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Templier, Paul","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045237694","display_name":"Luke Beddow","orcid":"https://orcid.org/0000-0002-9058-4024"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Beddow, Luke","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059416497","display_name":"Kamil Dreczkowski","orcid":"https://orcid.org/0000-0001-8278-6550"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dreczkowski, Kamil","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5011747084","display_name":"Antoine Cully","orcid":"https://orcid.org/0000-0002-3190-7073"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cully, Antoine","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.8122000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.8122000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.0414000004529953,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.01679999940097332,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7702000141143799},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6521000266075134},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6208000183105469},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6133999824523926},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5795000195503235},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.43950000405311584},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4235999882221222},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.3928000032901764},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3675000071525574}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7702000141143799},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6521000266075134},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6208000183105469},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6133999824523926},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5795000195503235},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5116999745368958},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4848000109195709},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.43950000405311584},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4235999882221222},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4041000008583069},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.3928000032901764},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3675000071525574},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3407000005245209},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.32600000500679016},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3228999972343445},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.322299987077713},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.32120001316070557},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.32030001282691956},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.3172000050544739},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3046000003814697},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.289900004863739},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2856999933719635},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C116672817","wikidata":"https://www.wikidata.org/wiki/Q1454986","display_name":"Physical system","level":2,"score":0.26159998774528503},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.2558000087738037}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.16407","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16407","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.16407","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16407","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8113054037094116,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Transferring":[0],"heavy":[1],"payloads":[2],"in":[3,23,53,174],"maritime":[4],"settings":[5],"relies":[6],"on":[7,39,58,87,108,150,162],"efficient":[8],"crane":[9,42],"operation,":[10],"limited":[11],"by":[12,26,44],"hazardous":[13],"double-pendulum":[14],"payload":[15],"sway.":[16],"This":[17],"sway":[18,146],"motion":[19],"is":[20,47],"further":[21],"exacerbated":[22],"offshore":[24],"environments":[25],"external":[27,176],"perturbations":[28],"from":[29],"wind":[30],"and":[31,145,171],"ocean":[32],"waves.":[33],"Manual":[34],"suppression":[35],"of":[36,141,194],"these":[37],"oscillations":[38],"an":[40],"underactuated":[41],"system":[43,181],"human":[45],"operators":[46],"challenging.":[48],"Existing":[49],"control":[50,105],"methods":[51],"struggle":[52],"such":[54],"settings,":[55],"often":[56],"relying":[57,86,149],"simplified":[59],"analytical":[60,93,152],"models,":[61],"while":[62,167],"deep":[63],"reinforcement":[64],"learning":[65],"(RL)":[66],"approaches":[67],"tend":[68],"to":[69,72,119,187],"generalise":[70],"poorly":[71],"unseen":[73],"conditions.":[74],"Deploying":[75],"a":[76,96,102,115,126,163,195],"predictive":[77],"controller":[78,158],"onto":[79],"compute-constrained,":[80],"highly":[81],"non-linear":[82],"physical":[83,189],"systems":[84],"without":[85,148],"extensive":[88],"offline":[89],"training":[90],"or":[91],"complex":[92,151],"models":[94],"remains":[95],"significant":[97],"challenge.":[98],"Here":[99],"we":[100],"show":[101],"complete":[103],"real-time":[104],"pipeline":[106],"centered":[107],"the":[109,138,157,192],"MuJoCo":[110],"MPC":[111],"framework":[112],"that":[113,156],"leverages":[114],"cross-entropy":[116],"method":[117],"planner":[118],"evaluate":[120],"candidate":[121],"action":[122],"sequences":[123],"directly":[124],"within":[125],"physics":[127],"simulator.":[128],"By":[129],"using":[130],"simulated":[131],"rollouts,":[132],"this":[133],"sampling-based":[134],"approach":[135],"successfully":[136],"reconciles":[137],"conflicting":[139],"objectives":[140],"dynamic":[142],"target":[143],"tracking":[144],"damping":[147],"models.":[153],"We":[154],"demonstrate":[155],"can":[159],"run":[160],"effectively":[161],"resource-constrained":[164],"embedded":[165],"hardware,":[166],"outperforming":[168],"traditional":[169],"PID":[170],"RL":[172],"baselines":[173],"counteracting":[175],"base":[177],"perturbations.":[178],"Furthermore,":[179],"our":[180],"demonstrates":[182],"robustness":[183],"even":[184],"when":[185],"subjected":[186],"unmodeled":[188],"discrepancies":[190],"like":[191],"introduction":[193],"second":[196],"payload.":[197]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-20T00:00:00"}