ResearchBenchmarksTrajectory Tracking on Quadrotor Lemniscate CFollow2.397Average Computation TimeNRT2.124243.965375.80657.64763Aug 19, 2025Evaluation ResultsMethodMethodLinksAverage Computation TimeNRT2025.082.397NMPCSolver=SQP-RTISolver=SQP-RTI2025.089.216