ResearchBenchmarksTrajectory Optimization on Quadrotor (nx=12, nu=4, Tmpc=70) (All Trajectories)Trajectory Optimization on Quadrotor (nx=12, nu=4, Tmpc=70) (All Trajectories)Follow95.6Success Rate (%)UG-ME-DDP1.37625.83850.374.762May 30, 2026Evaluation resultsMethodMethodLinksSuccess Rate (%)TimePath DeviationConstraint ViolationUG-ME-DDP2026.0595.61419.324.2SV-DDP2026.0594.41368.887.66MG-ME-DDP2026.05851539.191.75UG-MPPI2026.0569.41489.17—MG-MPPI2026.0569.41449.18—SV-MPPI2026.0567.51869.39—DDP2026.05519311.17.71