ResearchBenchmarksTrajectory Optimization on Quadrotor (nx=12, nu=4, Tmpc=70) Feasible TrajectoriesTrajectory Optimization on Quadrotor (nx=12, nu=4, Tmpc=70) Feasible TrajectoriesFollow91.3Success RateUG-ME-DDP-0.396823.409147.21571.0209May 30, 2026Evaluation resultsMethodMethodLinksSuccess RateComputation TimePath CostUG-ME-DDP2026.0591.31419.36SV-DDP2026.0587.51368.91MG-ME-DDP2026.0583.81539.2UG-MPPI2026.0569.4148.29.17MG-MPPI2026.0569.4143.99.18SV-MPPI2026.0567.5186.49.39DDP2026.053.1318911