ResearchBenchmarksRobot Path Planning on Simulation Scenario 1 Static obstacleRobot Path Planning on Simulation Scenario 1 Static obstacleFollow4.02Time (s)CE-MPPI4.01164.06834.1254.1817Jul 7, 2026Evaluation resultsMethodMethodLinksTime (s)Collision-free Success RatePath Length (m)CE-MPPI2026.074.02—2.22CSC-MPPI2026.074.23—2.27