ResearchBenchmarksTrajectory Optimization on Medium Environment rho=0.3 Short Scale < 50mTrajectory Optimization on Medium Environment rho=0.3 Short Scale < 50mFollow307.9IterationsATRS301.848342.699383.55424.401Apr 24, 2026Evaluation resultsMethodMethodLinksIterationsTotal Time (ms)Energy CostSuccess Rate (%)ATRS2026.04307.922.223.899TOP2026.04415.226.725.999Heuristic2026.04459.232.251.699