ResearchBenchmarksNavigation on Gazebo Citysim Outdoor Multi Intersection routeNavigation on Gazebo Citysim Outdoor Multi Intersection routeFollow74Success Rate (%)ORION13.6829.344560.66Jun 25, 2026Evaluation resultsMethodMethodLinksSuccess Rate (%)Progress (%)Collision RateMedian Horizontal JerkORIONPlatform=Clearpath Hus...Platform=Clearpath Husky UGV2026.067486.390.4510.13NoMaDPlatform=Clearpath Hus...Platform=Clearpath Husky UGV2026.064870.31.834.49NC-ETFPlatform=Clearpath Hus...Platform=Clearpath Husky UGV2026.064068.571.3911.98ViNTPlatform=Clearpath Hus...Platform=Clearpath Husky UGV2026.061644.242.162.34