Trajectory Tracking on XFly Circular Trajectory r = 1.5 m, zd = 1.5 m
5.7Mean XY Error (cm)MPCC
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| MPCCPrediction horizon (N)=15, Timestep (Δt)=0.1 s, Platform=XFly ornithopter2026.05 | 5.7 | 4.8 | 22 | 2.3 | 1.8 | 8.2 | 6.5 | 4.7 | 23 | |
| Escobar et al.Platform=XFly ornithopter2026.05 | 53 | 14 | 85 | 14 | 4.6 | 25 | 55 | 14 | 89 |