Global Path Planning on 696 same-floor queries Medium 50–150m 4–6 Hops 1.0
1.443Planning Time (ms)Hierarchical osmAG
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| Hierarchical osmAGPlanner=Hierarchical osmAG (Ours)2026.03 | 1.443 | 1,995 | 2.66 | 24 | |
| Flat osmAGPlanner=Flat osmAG2026.03 | 2.939 | 980 | 2.66 | 155 | |
| Nav2 Grid A*Planner=Nav2 Grid A*2026.03 | 2,879.3 | — | — | 140,320 |