ResearchBenchmarksSafe Exploration on Drone (train)Safe Exploration on Drone (train)Follow430Total InfeasibilitiesUPSi420.64483.82547610.18Apr 29, 2026Evaluation resultsMethodMethodLinksTotal InfeasibilitiesInfeasibility RateMinimum Optimization Time (s)Maximum Optimization Time (s)UPSiSolver Architecture=SQPSolver Architecture=SQP2026.04430421025.8XMPSCSolver Architecture=IpoptSolver Architecture=Ipopt2026.04664654.6837.2