ResearchBenchmarksTrajectory Optimization on Medium Environment (rho=0.3) Long Scale (> 150m)Trajectory Optimization on Medium Environment (rho=0.3) Long Scale (> 150m)Follow390.7IterationsATRS385.524420.462455.4490.338Apr 24, 2026Evaluation resultsMethodMethodLinksIterationsTotal Time (ms)Energy CostSuccess Rate (%)ATRS2026.04390.765.455.6100TOP2026.04420.766.857.699Heuristic2026.04520.181.679.6100