ResearchBenchmarksTrajectory Tracking on Quadrotor Lemniscate BFollow2.486Average Computation TimeNRT2.053924.970467.88710.80354Aug 19, 2025Evaluation ResultsMethodMethodLinksAverage Computation TimeNRT2025.082.486NMPCSolver=SQP-RTISolver=SQP-RTI2025.0813.288