ResearchBenchmarksTrajectory Optimization on Quadrotor (nx=12, nu=4, Tmpc=50) (All Trajectories)Trajectory Optimization on Quadrotor (nx=12, nu=4, Tmpc=50) (All Trajectories)Follow89.4Success RateSV-DDP41.97654.28866.678.912May 30, 2026Evaluation resultsMethodMethodLinksSuccess RateTimePath DeviationConstraint ViolationSV-DDP2026.0589.41328.891.19UG-ME-DDP2026.0583.11419.261.32MG-ME-DDP2026.05801419.051.1SV-MPPI2026.05751539.14—MG-MPPI2026.0562.51559.16—DDP2026.0543.815510.25.28UG-MPPI2026.0543.81388.92—