Table 5 Ablation study results for SOC prediction.

From: Temporal-aware transformer networks for state of charge multi-output prediction in unmanned aerial vehicle lithium-ion batteries

Model

MAE

RMSE

MAPE

w/o CNN

4.074

4.839

7.089

w/o temporal encoding

3.795

4.450

8.242

w/o transformer

3.086

3.547

6.390

TATNS

2.165

2.703

4.320

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