# Online Approximate Optimal Station Keeping of a Marine Craft in the Presence of a Current

arXiv: https://arxiv.org/abs/1710.10511 · HTML: https://mlsanity.com/paper/1710.10511/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Oct 2017.

## Built on by (most cited first, 3 of 3)

- [MarineGym: A High-Performance Reinforcement Learning Platform for Underwater Robotics](https://mlsanity.com/paper/2503.09203/) (2025)
- [MarineGym: Accelerated Training for Underwater Vehicles with High-Fidelity RL Simulation](https://mlsanity.com/paper/2410.14117/) (2024)
- [Knowledge-Distilled End-to-End Reinforcement Learning for Smooth 6-DOF Thrust Control and Rapid Adaptation to Ocean Currents in Remotely Operated Vehicles](https://mlsanity.com/paper/2608.08598/) (2026)

## Abstract (arXiv)

Online approximation of the optimal station keeping strategy for a fully actuated six degrees-of-freedom marine craft subject to an irrotational ocean current is considered. An approximate solution to the optimal control problem is obtained using an adaptive dynamic programming technique. The hydrodynamic drift dynamics of the dynamic model are assumed to be unknown; therefore, a concurrent learning-based system identifier is developed to identify the unknown model parameters. The identified model is used to implement an adaptive model-based reinforcement learning technique to estimate the unknown value function. The developed policy guarantees uniformly ultimately bounded convergence of the vehicle to the desired station and uniformly ultimately bounded convergence of the approximated policies to the optimal polices without the requirement of persistence of excitation. The developed strategy is validated using an autonomous underwater vehicle, where the three degrees-of-freedom in the horizontal plane are regulated. The experiments are conducted in a second-magnitude spring located in central Florida.