ResearchBenchmarksComputation Time Analysis on Blimp Lemniscate A trajectoryFollow0.82Computation Time (ms)NRT-1.25412.745526.74540.7445Aug 19, 2025Evaluation ResultsMethodMethodLinksComputation Time (ms)NRTDerivative Information...Derivative Information=None2025.080.82FBLDerivative Information...Derivative Information=Enhanced with reference trajectory derivative2025.0810.51NMPCDerivative Information...Derivative Information=Enhanced with reference trajectory derivative2025.0852.67