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A safe autonomy pipeline combining a model reference adaptive controller (MRAC) and a reachability module with a moving horizon estimator significantly improves trajectory tracking and enables real-time safety certification for uncrewed surface vehicles facing unpredictable disturbances. Novelty: ClaimNovelty.METHODOLOGICAL. Consensus alignment: ConsensusAlignment.NEUTRAL.

Safe Autonomy for Uncrewed Surface Vehicles Using Adaptive Control and Reachability Analysis

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