ResearchBenchmarksTrajectory Optimization on Dense Environment (rho=0.4) Long Scale (> 150m)Trajectory Optimization on Dense Environment (rho=0.4) Long Scale (> 150m)Follow431.9IterationsATRS416.508520.404624.3728.196Apr 24, 2026Evaluation resultsMethodMethodLinksIterationsTotal Time (ms)Energy CostSuccess RateATRS2026.04431.970.841.9100TOP2026.04454.470.842.7100Heuristic2026.04816.7123.177.596