Closed-loop Tracking on Real-world Quadrotor Payload Transportation
0.46Position RMSE Mean (m)SkyJEPA
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| SkyJEPATrajectory=Circle, Average Velocity=2 ms−12026.06 | 0.46 | 0.08 | 10.11 | 1.43 | |
| SkyJEPATrajectory=Figure 8, Average Velocity=2 ms−12026.06 | 0.49 | 0.07 | 9.44 | 1.37 | |
| SkyJEPATrajectory=Fish, Average Velocity=2 ms−12026.06 | 0.53 | 0.08 | 11.87 | 1.92 | |
| MPPI (Pred. + Phy.)Trajectory=Circle, Average Velocity=2 ms−12026.06 | 0.6 | 0.1 | 13.14 | 1.86 | |
| MPPI (Pred.)Trajectory=Circle, Average Velocity=2 ms−12026.06 | 0.62 | 0.11 | 13.65 | 1.93 | |
| MPPI (Pred. + Phy.)Trajectory=Figure 8, Average Velocity=2 ms−12026.06 | 0.64 | 0.09 | 12.27 | 1.78 | |
| MPPI (Pred.)Trajectory=Figure 8, Average Velocity=2 ms−12026.06 | 0.66 | 0.09 | 12.74 | 1.85 | |
| MPPI (Pred. + Phy.)Trajectory=Fish, Average Velocity=2 ms−12026.06 | 0.69 | 0.1 | 15.43 | 2.5 | |
| MPPI (Pred.)Trajectory=Fish, Average Velocity=2 ms−12026.06 | 0.72 | 0.11 | 16.02 | 2.59 |