Reference Tracking on Hover trajectory
0.01Positional RMSE (m)GMPPI (Ours)
Evaluation results
| Method | Links | ||
|---|---|---|---|
| GMPPI (Ours)||v||max=0.01, ||a||max=0.082025.10 | 0.01 | 0.01 | |
| SE(3)||v||max=0.01, ||a||max=0.022025.10 | 0.01 | 0.01 | |
| MPPI||v||max=0.34, ||a||max=3.352025.10 | 0.03 | 6.3 | |
| GMPPI (no SE(3))||v||max=0.36, ||a||max=1.782025.10 | 0.05 | 0.04 | |
| GMPPI (const noise)||v||max=1.59, ||a||max=2.582025.10 | 0.59 | 0.11 | |
| GMPPI (const ∆t)||v||max=1.59, ||a||max=2.812025.10 | 0.64 | 0.11 |