ResearchBenchmarksTrajectory Tracking on Real-world UAV Ellipse TrajectoryTrajectory Tracking on Real-world UAV Ellipse TrajectoryFollow0.141Endpoint Error (m)HBO-PID0.131920.193210.25450.31579Dec 30, 2025Evaluation resultsMethodMethodLinksEndpoint Error (m)Yaw Error (deg)HBO-PIDEnvironment=Real-worldEnvironment=Real-world2025.120.1410.616BO-PIDEnvironment=Real-worldEnvironment=Real-world2025.120.3680.662