├── .gitignore ├── .gitmodules ├── README.md └── catkin_ws ├── .catkin_workspace └── src ├── CMakeLists.txt ├── nmpc_ca ├── CMakeLists.txt ├── matlab │ └── speed_heading_tests.m ├── package.xml ├── scripts │ ├── race_cars │ │ ├── README.md │ │ ├── acados_settings.py │ │ ├── acados_settings_dev.py │ │ ├── bycicle_model.py │ │ ├── main.py │ │ ├── plotFcn.py │ │ └── time2spatial.py │ ├── usv_acados │ │ ├── acados_settings.py │ │ ├── main.py │ │ ├── plotFcn.py │ │ ├── time2spatial.py │ │ └── usv_model.py │ ├── usv_guidance │ │ ├── acados_settings.py │ │ ├── main.py │ │ ├── plotFcn.py │ │ ├── time2spatial.py │ │ └── usv_model.py │ ├── usv_guidance2 │ │ ├── acados_settings.py │ │ ├── main.py │ │ ├── plotFcn.py │ │ ├── time2spatial.py │ │ └── usv_model.py │ ├── usv_guidance3 │ │ ├── acados_settings.py │ │ ├── main.py │ │ ├── plotFcn.py │ │ ├── time2spatial.py │ │ └── usv_model.py │ ├── usv_guidance4 │ │ ├── acados_settings.py │ │ ├── main.py │ │ ├── plotFcn.py │ │ ├── time2spatial.py │ │ └── usv_model.py │ ├── usv_guidance5 │ │ ├── acados_settings.py │ │ ├── main.py │ │ ├── plotFcn.py │ │ ├── time2spatial.py │ │ └── usv_model.py │ ├── usv_guidance_ca │ │ ├── acados_settings.py │ │ ├── main.py │ │ ├── plotFcn.py │ │ ├── time2spatial.py │ │ └── usv_model.py │ ├── usv_guidance_ca1 │ │ ├── acados_settings.py │ │ ├── main.py │ │ ├── plotFcn.py │ │ ├── time2spatial.py │ │ └── usv_model.py │ ├── usv_low_level │ │ ├── acados_settings.py │ │ ├── main.py │ │ ├── plotFcn.py │ │ ├── time2spatial.py │ │ └── usv_model.py │ ├── usv_pf │ │ ├── acados_settings.py │ │ ├── main.py │ │ ├── plotFcn.py │ │ ├── time2spatial.py │ │ └── usv_model.py │ ├── usv_pf_ca │ │ ├── acados_settings.py │ │ ├── main.py │ │ ├── plotFcn.py │ │ ├── time2spatial.py │ │ └── usv_model.py │ └── usv_position_control │ │ ├── Figure_1.png │ │ ├── acados_settings.py │ │ ├── main.py │ │ ├── plotFcn.py │ │ ├── time2spatial.py │ │ └── usv_model.py └── src │ ├── acados_mpc.cpp │ ├── nmpc_guidance.cpp │ ├── 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