ResearchBenchmarksAutonomous Flight Planning on Simulation cluttered forest, 60m × 60m × 5mFollow13.63Avg Velocity (m/s)LOONG6.53728.378610.2212.0614Jan 12, 2026Evaluation ResultsMethodMethodLinksAvg Velocity (m/s)Success RateAvg Max Velocity (m/s)Avg Computation Time (s)Avg Flight Time (s)LOONGconfiguration=high-speedconfiguration=high-speed2026.0113.63—20.60.00684.56SUPERconfiguration=high-speedconfiguration=high-speed2026.017.34—17.630.0488.81LOONGconfiguration=denseconfiguration=dense2026.016.94—9.280.00649.15SUPERconfiguration=denseconfiguration=dense2026.016.81—80.05019.53