ResearchBenchmarksRobot Motion Planning on Simplified environment (simulation)Follow117.89Control EffortCILQR91.068272.1165453.165634.2135May 14, 2026Evaluation ResultsMethodMethodLinksControl EffortTrajectory LengthMemory Requirement (GB)Planning Time (s)Total Computation Time (s)CILQR2026.05117.8924.761.14—4.91DWA2026.05204.8923.5113.08—3,372.07RPSC2026.05227.5522.990.630.080.19LSCM2026.05233.3223.472.261.373.07HPPM2026.05490.9953.312.598.3410.56CLF-CBF2026.05788.44107.910.73—591.37