Global Path Planning on 696 same-floor queries (Long: > 150m, > 6 Hops) 1.0
1.361Time (ms)Hierarchical osmAG
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| Hierarchical osmAGPlanner=Hierarchical osmAG (Ours)2026.03 | 1.361 | 7,816 | 2.07 | 21 | |
| Flat osmAGPlanner=Flat osmAG2026.03 | 5.308 | 2,005 | 2.07 | 292 | |
| Nav2 Grid A*Planner=Nav2 Grid A*2026.03 | 10,641 | — | — | 367,581 |