Closed-Loop Tracking on Real-world Quadrotor Propeller Switching
0.33Position RMSE Mean (m)SkyJEPA
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| SkyJEPATrajectory=Circle, Average Velocity=2 ms−12026.06 | 0.33 | 0.02 | 9.54 | 1.04 | |
| SkyJEPATrajectory=Figure 8, Average Velocity=2 ms−12026.06 | 0.35 | 0.01 | 10.21 | 0.98 | |
| SkyJEPATrajectory=Fish, Average Velocity=2 ms−12026.06 | 0.39 | 0.02 | 10.89 | 0.88 | |
| MPPI (Pred. + Phy.)Trajectory=Circle, Average Velocity=2 ms−12026.06 | 0.43 | 0.03 | 12.4 | 1.35 | |
| MPPI (Pred.)Trajectory=Circle, Average Velocity=2 ms−12026.06 | 0.45 | 0.03 | 12.88 | 1.4 | |
| MPPI (Pred. + Phy.)Trajectory=Figure 8, Average Velocity=2 ms−12026.06 | 0.46 | 0.01 | 13.27 | 1.27 | |
| MPPI (Pred.)Trajectory=Figure 8, Average Velocity=2 ms−12026.06 | 0.47 | 0.01 | 13.78 | 1.32 | |
| MPPI (Pred. + Phy.)Trajectory=Fish, Average Velocity=2 ms−12026.06 | 0.51 | 0.03 | 14.16 | 1.14 | |
| MPPI (Pred.)Trajectory=Fish, Average Velocity=2 ms−12026.06 | 0.53 | 0.03 | 14.7 | 1.19 |