ResearchBenchmarksTrajectory Optimization on Sparse Environment rho=0.2 Short Scale (< 50m)Trajectory Optimization on Sparse Environment rho=0.2 Short Scale (< 50m)Follow305.4IterationsATRS297.208352.504407.8463.096Apr 24, 2026Evaluation resultsMethodMethodLinksIterationsTotal Time (ms)Energy CostSuccess RateATRS2026.04305.420.723.5100TOP2026.04412.925.626.597Heuristic2026.04510.234.254.599