ResearchBenchmarksTrajectory Tracking on Real-world UAV Spiral TrajectoryFollow0.318Endpoint Error (m)HBO-PID0.309080.369290.42950.48971Dec 30, 2025Evaluation ResultsMethodMethodLinksEndpoint Error (m)Yaw Error (deg)HBO-PIDEnvironment=Real-worldEnvironment=Real-world2025.120.3180.383BO-PIDEnvironment=Real-worldEnvironment=Real-world2025.120.5410.591