TABLE I:

Comparison of MPC and MPPI in tracking five trajectories in terms of computation time and RMSE (deg) for pitch and yaw.

Controller Type	Desired Trajectory	Computation Time (s)	RMSE Pitch (deg)	RMSE Yaw (deg)
MPC	⬭	1180.46 ± 50.24	0.13	0.36
		1038.62 ± 68.12	0.08	0.28
	∞	1192.43 ± 47.94	0.21	0.10
		1134.09 ± 58.73	0.19	0.14
	☆	992.36 ± 41.06	0.77	0.82
MPPI	⬭	227.64 ± 24.31	0.06	0.26
		217.29 ± 29.48	0.07	0.27
	∞	222.47 ± 32.12	0.17	0.07
		201.01 ± 21.86	0.10	0.18
	☆	200.47 ± 26.04	0.32	0.44