ResearchBenchmarksNavigation on 2D Maze Oblique environmentNavigation on 2D Maze Oblique environmentFollow0.022Per-step Optimization Time (s)PSDF-MPC0.016960.050980.0850.11902Jul 5, 2026Evaluation resultsMethodMethodLinksPer-step Optimization Time (s)PSDF-MPC2026.070.022OBCA2026.070.145DCBF2026.070.148