Footstep Planning on Stairs scenario
4.32Computation Time (Total)Discretized A*
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Discretized A*Rotation=without rotation2026.03 | 4.32 | 4.32 | — | 102 | 15 | |
| CASSRRotation=without rotation2026.03 | 13.18 | 4.67 | 8.51 | 16 | 15 | |
| CASSRRotation=with rotation2026.03 | 14.75 | 10 | 4.74 | 33 | 11 | |
| Discretized A*Rotation=with rotation2026.03 | 38.5 | 38.5 | — | 253 | 15 | |
| MIP (optimal)Rotation=without rotation2026.03 | 83.68 | — | — | 1 | 15 | |
| MIP (30 steps)Rotation=without rotation2026.03 | 400.55 | — | — | 294 | 30 |