Proposed · nominal plans and flightInformative commitment · 0–4 s
Top view · x/y in metres
Committed nominalBackup nominalExecuted trail · moving quadcopterPosition error box sweep
Live plotsCommon simulation clock
Drag coefficient bounds · shaded interval, true value = 0.4
Interval width · logarithmic scale
Accumulated actual mission cost
Speed · m/s
Applied input magnitude · m/s²
Largest position tube radius · m
Tube utilization · limit = 1
x position · m (dashed = nominal)
y position · m (dashed = nominal)
z altitude · m (dashed = nominal)
Arrival is the first recorded state within both the position and speed tolerances (0.02 s sampling). Curves stop at arrival. Drones then remain at their final positions. Uncertainty bands use the recorded identification updates; no learning keeps its original interval.