# Trajectory Tracking on ArduPilot SITL Infinity trajectory

Source: [Trajectory Tracking on ArduPilot SITL Infinity trajectory](<https://www.sota2.com/research/sota/trajectory-tracking-on-ardupilot-sitl-infinity-trajectory>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-11T06:52:29.873Z

Evaluation of trajectory tracking performance within the ArduPilot Software-In-The-Loop (SITL) simulation environment, specifically using the Infinity trajectory. Metrics include positional errors such as RMSE\_xy, MAE\_xy, P95 \|\|xy\|\|, and Max \|\|xy\|\|.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Trajectory Tracking |
| Dataset (including any stated split) | ArduPilot SITL Infinity trajectory |
| Metric | RMSE (xy) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 3 of 3 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [RMSE (xy)](<https://www.sota2.com/research/sota/trajectory-tracking-on-ardupilot-sitl-infinity-trajectory.md?metric=RMSE%20(xy)>): Lower is better; unit: SCALAR.

- [MAE (xy)](<https://www.sota2.com/research/sota/trajectory-tracking-on-ardupilot-sitl-infinity-trajectory.md?metric=MAE%20(xy)>): Lower is better; unit: SCALAR.

- [P95 \|\|xy\|\|](<https://www.sota2.com/research/sota/trajectory-tracking-on-ardupilot-sitl-infinity-trajectory.md?metric=P95%20%7C%7Cxy%7C%7C>): Lower is better; unit: SCALAR.

- [Max \|\|xy\|\|](<https://www.sota2.com/research/sota/trajectory-tracking-on-ardupilot-sitl-infinity-trajectory.md?metric=Max%20%7C%7Cxy%7C%7C>): Lower is better; unit: SCALAR.

## Recorded results

| Method | RMSE (xy) | Result date | Report paper |
| --- | --- | --- | --- |
| ASINDy | 0.35 | Not recorded | 69b0f6ec2d603e6de3e45bbb |
| ADAIML | 0.373 | Not recorded | 69b0f6ec2d603e6de3e45bbb |
| PID | 0.652 | Not recorded | 69b0f6ec2d603e6de3e45bbb |

### ASINDy

RMSE (xy): 0.35. Result ID: 69b110e76dbb7075b95ad9f3.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f6ec2d603e6de3e45bbb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69b0f6ec2d603e6de3e45bbb.md>)

Recorded evaluation configuration: {"Control":"ASINDy"}. This record does not assert independent reproduction.

### ADAIML

RMSE (xy): 0.373. Result ID: 69b110e76dbb7075b95ad9f2.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f6ec2d603e6de3e45bbb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72df1e209131cea59162.md>)

Recorded evaluation configuration: {"Control":"ADAIML"}. This record does not assert independent reproduction.

### PID

RMSE (xy): 0.652. Result ID: 69b110e76dbb7075b95ad9f4.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f6ec2d603e6de3e45bbb.md>)

Recorded evaluation configuration: {"Control":"PID"}. This record does not assert independent reproduction.

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