ResearchBenchmarksComputation Time Analysis on Blimp Helix B trajectoryFollow0.95Computation Time (ms)NRT-1.442414.706330.85547.0037Aug 19, 2025Evaluation ResultsMethodMethodLinksComputation Time (ms)NRTDerivative Information...Derivative Information=None2025.080.95FBLDerivative Information...Derivative Information=Enhanced with reference trajectory derivative2025.0810.27NMPCDerivative Information...Derivative Information=Enhanced with reference trajectory derivative2025.0860.76