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Quadrotor

Benchmarks

Task NameDataset NameSOTA ResultTrend
Trajectory Optimizationquadrotor
Mean Execution Time (s)0.0028
10
Path trackingQuadrotor spatially dissipating wind with random noise
RMSE (m)0.03
9
Goal reachingQuadrotor spatially dissipating wind with random noise
RMSE (m)0.012
9
Path trackingQuadrotor time-varying winds
RMSE (m)0.036
9
Goal reachingQuadrotor time-varying winds
RMSE (m)0.01
9
Trajectory OptimizationQuadrotor nx=12, nu=4, Tmpc=70 All Trajectories
Success Rate (%)95.6
7
Trajectory OptimizationQuadrotor (nx=12, nu=4, Tmpc=70) Feasible Trajectories
Success Rate91.3
7
Trajectory OptimizationQuadrotor (nx=12, nu=4, Tmpc=50) All Trajectories
Success Rate89.4
7
Trajectory OptimizationQuadrotor (nx=12, nu=4, Tmpc=50) Feasible Trajectories
Success Rate83.1
7
Optimal ControlQuadrotor 3D
Final Cost7.38
7
TrackingQuadrotor Small Disturbance
Positional Error (m)0.042
6
HoveringQuadrotor (Large Disturbance)
Positional Error (m)0.036
6
HoveringQuadrotor (Small Disturbance)
Positional Error (m)0.008
6
Reinforcement LearningQuadrotor
Episode Steps (Mean)127,680
6
Safety VerificationQuadrotor 4D + 2D obstacle
Alpha5.1
6
TrackingQuadrotor (Large Disturbance)
Positional Error (m)0.064
5
ControlQuadrotor
MSI0.29
4
Trajectory EstimationQuadrotor Traj. 15 (test)
Positional Error (N)0.496
4
Trajectory EstimationQuadrotor Traj. 12 (test)
Positional Error (North)2.226
4
Trajectory EstimationQuadrotor Traj. 2 (val)
Positional Error (North)2.533
4
Safe perception-based controlQuadrotor
Success Rate100
3
Trajectory TrackingQuadrotor Triangle
Average Computation Time2.417
2
Trajectory TrackingQuadrotor Sawtooth
Average Computation Time2.507
2
Trajectory TrackingQuadrotor Circle C
Average Computation Time2.454
2
Trajectory TrackingQuadrotor Helix B
Average Computation Time2.471
2
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