# Trajectory Tracking on Crazyflie SITL Spiral trajectory Gazebo simulation

Source: [Trajectory Tracking on Crazyflie SITL Spiral trajectory Gazebo simulation](<https://www.sota2.com/research/sota/trajectory-tracking-on-crazyflie-sitl-spiral-trajectory-gazebo-simulation>)

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

Data updated: 2026-03-11T06:52:29.792Z

Evaluation of trajectory tracking performance for a Crazyflie drone in a Software-In-The-Loop (SITL) Gazebo simulation environment, specifically following a Spiral trajectory. Metrics focus on spatial tracking error (RMSE, MAE, P95, Max).

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) | Crazyflie SITL Spiral trajectory Gazebo simulation |
| Metric | RMSE (XY) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 4 of 4 |
| 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-crazyflie-sitl-spiral-trajectory-gazebo-simulation.md?metric=RMSE%20(XY)>): Lower is better; unit: SCALAR.

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

- [P95 Error (XY)](<https://www.sota2.com/research/sota/trajectory-tracking-on-crazyflie-sitl-spiral-trajectory-gazebo-simulation.md?metric=P95%20Error%20(XY)>): Lower is better; unit: SCALAR.

- [Max Error (XY)](<https://www.sota2.com/research/sota/trajectory-tracking-on-crazyflie-sitl-spiral-trajectory-gazebo-simulation.md?metric=Max%20Error%20(XY)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | RMSE (XY) | Result date | Report paper |
| --- | --- | --- | --- |
| ASINDy | 0.072 | Not recorded | 69b0f6ec2d603e6de3e45bbb |
| ADAIML | 0.119 | Not recorded | 69b0f6ec2d603e6de3e45bbb |
| INDI | 0.125 | Not recorded | 69b0f6ec2d603e6de3e45bbb |
| PID | 0.176 | Not recorded | 69b0f6ec2d603e6de3e45bbb |

### ASINDy

RMSE (XY): 0.072. Result ID: 69b110e76dbb7075b95ad9ec.

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

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

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### ADAIML

RMSE (XY): 0.119. Result ID: 69b110e76dbb7075b95ad9eb.

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

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

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### INDI

RMSE (XY): 0.125. Result ID: 69b110e76dbb7075b95ad9ed.

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

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### PID

RMSE (XY): 0.176. Result ID: 69b110e76dbb7075b95ad9ee.

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

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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