ResearchBenchmarksTrajectory Optimization on Quadrotor (nx=12, nu=4, Tmpc=50) Feasible TrajectoriesTrajectory Optimization on Quadrotor (nx=12, nu=4, Tmpc=50) Feasible TrajectoriesFollow83.1Success RateSV-DDP35.67647.98860.372.612May 30, 2026Evaluation resultsMethodMethodLinksSuccess RateTimePath Error MetricSV-DDP2026.0583.11328.91UG-ME-DDP2026.0577.51409.2MG-ME-DDP2026.0576.91399SV-MPPI2026.0575152.79.14MG-MPPI2026.0562.51559.16UG-MPPI2026.0543.8137.78.92DDP2026.0537.51459.55