ResearchBenchmarksLocalization on MAV Circular Trajectory Real ExperimentsLocalization on MAV Circular Trajectory Real ExperimentsFollow0.09Position RMSE Mean (m)batch0.08960.09230.0950.0977Feb 18, 2026Evaluation resultsMethodMethodLinksPosition RMSE Mean (m)Position RMSE Std Dev (m)batchAgent=mav2, Approach=c...Agent=mav2, Approach=centralized2026.020.090.02dclAgent=mav2, Approach=d...Agent=mav2, Approach=decentralized2026.020.10.01dclAgent=mav3, Approach=d...Agent=mav3, Approach=decentralized2026.020.10.01batchAgent=mav3, Approach=c...Agent=mav3, Approach=centralized2026.020.10.03