{"ID":2828546,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.14450","arxiv_id":"2512.14450","title":"Nonlinear System Identification Nano-drone Benchmark","abstract":"We introduce a benchmark for system identification based on 75k real-world samples from the Crazyflie 2.1 Brushless nano-quadrotor, a sub-50g aerial vehicle widely adopted in robotics research. The platform presents a challenging testbed due to its multi-input, multi-output nature, open-loop instability, and nonlinear dynamics under agile maneuvers. The dataset comprises four aggressive trajectories with synchronized 4-dimensional motor inputs and 13-dimensional output measurements. To enable fair comparison of identification methods, the benchmark includes a suite of multi-horizon prediction metrics for evaluating both one-step and multi-step error propagation. In addition to the data, we provide a detailed description of the platform and experimental setup, as well as baseline models highlighting the challenge of accurate prediction under real-world noise and actuation nonlinearities. All data, scripts, and reference implementations are released as open-source at https://github.com/idsia-robotics/nanodrone-sysid-benchmark to facilitate transparent comparison of algorithms and support research on agile, miniaturized aerial robotics.","short_abstract":"We introduce a benchmark for system identification based on 75k real-world samples from the Crazyflie 2.1 Brushless nano-quadrotor, a sub-50g aerial vehicle widely adopted in robotics research. The platform presents a challenging testbed due to its multi-input, multi-output nature, open-loop instability, and nonlinear...","url_abs":"https://arxiv.org/abs/2512.14450","url_pdf":"https://arxiv.org/pdf/2512.14450v1","authors":"[\"Riccardo Busetto\",\"Elia Cereda\",\"Marco Forgione\",\"Gabriele Maroni\",\"Dario Piga\",\"Daniele Palossi\"]","published":"2025-12-16T14:37:33Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"cs.RO\"]","methods":"[]","has_code":false,"code_links":[{"ID":605886,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2828546,"paper_url":"https://arxiv.org/abs/2512.14450","paper_title":"Nonlinear System Identification Nano-drone Benchmark","repo_url":"https://github.com/idsia-robotics/nanodrone-sysid-benchmark","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}