Trajectory Optimization on quadrotor
0.0028Mean Execution Time (s)MPPI
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| MPPILook-ahead horizon (T_MPC)=50, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 0.0028 | — | — | — | 0.0007 | |
| MPPILook-ahead horizon (T_MPC)=70, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 0.0039 | — | — | — | 0.0008 | |
| DDPLook-ahead horizon (T_MPC)=50, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 0.0215 | — | — | — | 0.0022 | |
| MG-ME-DDPLook-ahead horizon (T_MPC)=50, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 0.0256 | — | — | — | 0.001 | |
| UG-ME-DDPLook-ahead horizon (T_MPC)=50, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 0.0265 | — | — | — | 0.0014 | |
| SV-DDPLook-ahead horizon (T_MPC)=50, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 0.0265 | — | — | — | 0.0011 | |
| DDPLook-ahead horizon (T_MPC)=70, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 0.0295 | — | — | — | 0.0024 | |
| UG-ME-DDPLook-ahead horizon (T_MPC)=70, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 0.0357 | — | — | — | 0.0011 | |
| MG-ME-DDPLook-ahead horizon (T_MPC)=70, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 0.0359 | — | — | — | 0.001 | |
| SV-DDPLook-ahead horizon (T_MPC)=70, Hardware=Intel i9-13900K CPU, 64Gb RAM, NVIDIA RTX4090 GPU2026.05 | 0.0373 | — | — | — | 0.0015 | |
| GCS-based STL motion planningSetting=3-D2026.05 | — | 0.004 | 1.17 | 15.68 | — | |
| PWLSetting=3-D2026.05 | — | — | — | 489 | — |