ResearchBenchmarksAutonomous Flight Planning on Simulation 15m × 120m × 4mFollow22.1Avg Velocity (m/s)LOONG2.087.277512.47517.6725Jan 12, 2026Evaluation ResultsMethodMethodLinksAvg Velocity (m/s)Success RateAvg Max Velocity (m/s)Avg Computation Time (ms)Avg Flight Time (s)LOONGconfiguration=defaultconfiguration=default2026.0122.1—33.155.874.64SUPERconfiguration=w. only...configuration=w. only thrust limit2026.0117.99—29.9125.285.62SUPERconfiguration=defaultconfiguration=default2026.0116.23—24.8824.866.24IPCconfiguration=defaultconfiguration=default2026.012.85—3.192.4140.57