ResearchBenchmarksTrajectory Optimization on Sparse Environment (rho=0.2) Medium Scale (50-150m)Trajectory Optimization on Sparse Environment (rho=0.2) Medium Scale (50-150m)Follow356.1IterationsATRS351.576382.113412.65443.187Apr 24, 2026Evaluation resultsMethodMethodLinksIterationsTotal Time (ms)Energy CostSuccess Rate (%)ATRS2026.04356.137.932.1100TOP2026.04432.742.334.198Heuristic2026.04469.245.854100