ResearchBenchmarksTrajectory Optimization on Dense Environment (rho=0.4) Medium Scale (50-150m)Trajectory Optimization on Dense Environment (rho=0.4) Medium Scale (50-150m)Follow438.5IterationsATRS428.444496.322564.2632.078Apr 24, 2026Evaluation resultsMethodMethodLinksIterationsTotal Time (ms)Energy CostSuccess Rate (%)ATRS2026.04438.550.241.199TOP2026.04474.850.442.698Heuristic2026.04689.97275.798