{
  "$schema": "https://themachinepress.com/schemas/story-v1.schema.json",
  "schema_version": "1.0.0",
  "document_type": "machine_press_story",
  "story": {
    "story_id": "mp-2026-09-19-009",
    "source_story_id": "tmp-story-underwater-target-depth-fusion",
    "edition_id": "mp-2026-09-19-morning-0072",
    "edition_url": "https://themachinepress.com/edition/2026-09-19",
    "position": 9,
    "story_type": "dispatch",
    "section": "robotics",
    "editorial_classification": "editorial",
    "headline": "The Underwater Tracker Split Yaw From Translation",
    "slug": "the-underwater-tracker-split-yaw-from-translation",
    "dek": "A target-specific depth mask and two motion models kept the vehicle's control problem small enough for real time.",
    "summary": "A target-specific depth mask and two motion models kept the vehicle's control problem small enough for real time.",
    "body_text": "The underwater tracking system selects target depth pixels using color, disparity and temporal cues, then filters depth and image-center estimates separately. Its controller handles yaw apart from translation, avoiding a larger coupled optimization, while predictive control blends constant-velocity and stationary-target models according to recent errors. Actuation, following distance and field of view remain explicit constraints. Simulations and physical experiments beat the authors' comparison frameworks, though the abstract does not quantify that margin.",
    "why_it_matters": "A target-specific depth mask and two motion models kept the vehicle's control problem small enough for real time.",
    "limitations": [
      "Its controller handles yaw apart from translation, avoiding a larger coupled optimization, while predictive control blends constant-velocity and stationary-target models according to recent errors.",
      "Actuation, following distance and field of view remain explicit constraints.",
      "Simulations and physical experiments beat the authors' comparison frameworks, though the abstract does not quantify that margin."
    ],
    "importance": 8,
    "canonical_url": "https://themachinepress.com/story/mp-2026-09-19-009/the-underwater-tracker-split-yaw-from-translation",
    "json_url": "https://themachinepress.com/story/mp-2026-09-19-009.json",
    "first_published_at": "2026-09-19T09:00:00.000-04:00",
    "modified_at": "2026-09-19T09:00:00.000-04:00",
    "content_status": "new",
    "is_carryover": false,
    "carryover_reason": null,
    "key_claims": [
      {
        "claim_id": "claim-mp-2026-09-19-009-001",
        "text": "A target-specific depth mask and two motion models kept the vehicle's control problem small enough for real time.",
        "source_ids": [
          "source-2026-09-19-009"
        ],
        "qualification": "Its controller handles yaw apart from translation, avoiding a larger coupled optimization, while predictive control blends constant-velocity and stationary-target models according to recent errors."
      }
    ],
    "source_ids": [
      "source-2026-09-19-009"
    ],
    "tags": [
      "underwater robots",
      "visual tracking",
      "model predictive control"
    ],
    "image_url": null,
    "corrections": []
  },
  "sources": [
    {
      "source_id": "source-2026-09-19-009",
      "title": "arXiv preprint 2609.20731",
      "publisher": "arXiv",
      "url": "https://arxiv.org/abs/2609.20731",
      "canonical_url": "https://arxiv.org/abs/2609.20731",
      "source_type": "primary_research",
      "is_primary_source": true,
      "published_at": "2026-09-17T13:22:01.000-04:00",
      "accessed_at": "2026-09-19T08:30:21.326-04:00",
      "supports_claim_ids": [
        "claim-mp-2026-09-19-009-001"
      ]
    }
  ],
  "corrections": [],
  "publisher": {
    "name": "The Machine Press",
    "url": "https://themachinepress.com",
    "description": "A daily newspaper for the age of artificial intelligence."
  },
  "cite_this_report": {
    "title": "The Underwater Tracker Split Yaw From Translation",
    "publisher": "The Machine Press",
    "published_at": "2026-09-19T09:00:00.000-04:00",
    "canonical_url": "https://themachinepress.com/story/mp-2026-09-19-009/the-underwater-tracker-split-yaw-from-translation"
  }
}