ResearchBenchmarksTrajectory Tracking on Crazyflie SITL Spiral trajectory Gazebo simulationTrajectory Tracking on Crazyflie SITL Spiral trajectory Gazebo simulationFollow0.072RMSE (XY)ASINDy0.067840.095920.1240.15208Mar 9, 2026Evaluation resultsMethodMethodLinksRMSE (XY)MAE (XY)P95 Error (XY)Max Error (XY)ASINDy2026.030.0720.0630.1210.132ADAIML2026.030.1190.1070.190.211INDI2026.030.1250.1110.2080.223PID2026.030.1760.1610.2720.299