ResearchBenchmarksVisual Servoing Tracking on Real-world flight experiments AprilTag tracking (trial averages)Follow6.588Time (s)IBVS6.438727.446368.4549.46164May 21, 2026Evaluation ResultsMethodMethodLinksTime (s)RMSE (Tracking Error)Joint RMSEIBVSDescription=convention...Description=conventional IBVS2026.056.5880.71830.8158MPCDescription=MPC withou...Description=MPC without constraints2026.057.6330.70140.7287MPC2Description=MPC with b...Description=MPC with both input and state constraints2026.058.1760.62260.6466MPC1Description=MPC with i...Description=MPC with input constraints only2026.0510.320.65320.6785