ResearchBenchmarksTrajectory Optimization on Medium Environment (rho=0.3) Medium Scale (50-150m)Trajectory Optimization on Medium Environment (rho=0.3) Medium Scale (50-150m)Follow381.3IterationsATRS374.98417.64460.3502.96Apr 24, 2026Evaluation resultsMethodMethodLinksIterationsTotal Time (ms)Energy CostSuccess RateATRS2026.04381.342.742.2100TOP2026.04446.446.245.698Heuristic2026.04539.356.17198