This is a tool for calculating and plotting the integral absolute cross-track error (IAX) metric for paths in two dimensions.
@INPROCEEDINGS{TufteAndRambech2026,
author={Andreas Gudahl Tufte and Alexander Brevad Rambech},
booktitle={World Congress 2026},
title={The path following evaluation metric IAX: A toolbox for fair comparison across controllers, crafts and conditions},
year={2026},
}
Provided in our code is a few examples. You can find the underlying data in the data folder.
This is a simulation example of the Remus 100 following a straight line depth path using two different control methods.
- IAE run 1: 167.17570686207148
- IAE run 2: 160.3756862365071
- IAE run 3: 177.2129103455127
- IAE run 4: 190.74477221747378
- IAE run 5: 212.54095473953026
- IAE run 6: 209.0230603651244
- IAX run 1: 30.482415293568618
- IAX run 2: 34.48942510140867
- IAX run 3: 48.301860737637725
- IAX run 4: 63.04668323898811
- IAX run 5: 90.07445589918035
- IAX run 6: 105.49791834067511
- IAE run 1: 164.227824538661
- IAE run 2: 169.139612201999
- IAE run 3: 179.817387469234
- IAE run 4: 244.556319123331
- IAE run 5: 185.192086626069
- IAE run 6: 214.396781718436
- IAX run 1: 46.40214250045674
- IAX run 2: 48.691427222674065
- IAX run 3: 34.886997015624424
- IAX run 4: 41.02467757035569
- IAX run 5: 34.601852015587944
- IAX run 6: 34.39162528349263
