ResearchBenchmarksMotion Planning on Spline-based motion planning scenarios 4 obstaclesMotion Planning on Spline-based motion planning scenarios 4 obstaclesFollow47.42Wall Time (ms)SVM45.03261.15177.2793.389Mar 25, 2026Evaluation resultsMethodMethodLinksWall Time (ms)Time LS (ms)Time QP (ms)Iterations CountEpsilon Move Median (%)Epsilon Move Std Dev (%)Success Rate (%)Reduction (%)SVM2026.0347.420.791.915513.139755.74LSR2026.03107.12——21——100—