ResearchBenchmarksTrajectory Optimization on Dense Environment rho=0.4 Short Scale (< 50m)Trajectory Optimization on Dense Environment rho=0.4 Short Scale (< 50m)Follow343Optimization IterationsATRS334.916389.483444.05498.617Apr 24, 2026Evaluation resultsMethodMethodLinksOptimization IterationsTotal Time (ms)Energy CostSuccess Rate (%)ATRS2026.0434324.425.297TOP2026.04442.829.22894Heuristic2026.04545.138.657.296