Global Path Planning on 696 same-floor queries Short: < 50m, 1–3 Hops 1.0
0.757Planning Time (ms)Flat osmAG
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| Flat osmAGPlanner=Flat osmAG2026.03 | 0.757 | 270 | 4.29 | 32 | |
| Hierarchical osmAGPlanner=Hierarchical osmAG (Ours)2026.03 | 1.308 | 156 | 4.29 | 19 | |
| Nav2 Grid A*Planner=Nav2 Grid A*2026.03 | 204.3 | — | — | 19,639 |