ResearchBenchmarksMotion Planning Simulation LONG queriesMotion Planning Simulation LONG queriesFollow530,276.51H-A* Latency (ms)H-A*503,762.6845517,019.59725530,276.51543,533.42275Feb 10, 2026Evaluation resultsMethodMethodLinksH-A* Latency (ms)Framework Latency (ms)AP Latency (ms)A* Latency (ms)SLP Latency (ms)H-A*# of Samples=12, Path...# of Samples=12, Path Length (m)=25-41, # of Corridors=8-162026.02530,276.51————SLP# of Samples=12, Path...# of Samples=12, Path Length (m)=25-41, # of Corridors=8-162026.02————389,137