ResearchBenchmarksTrajectory Optimization on Sparse Environment (rho=0.2) Long Scale (> 150m)Trajectory Optimization on Sparse Environment (rho=0.2) Long Scale (> 150m)Follow392.2IterationsATRS384.764434.957485.15535.343Apr 24, 2026Evaluation resultsMethodMethodLinksIterationsTotal Time (ms)Energy CostSuccess RateATRS2026.04392.261.553.6100TOP2026.04441.964.756.699Heuristic2026.04578.185.183.298