ResearchBenchmarksPath-planning on BGII mapFollow1.43Average Algorithm Runtime (ms)Anya-0.369211.775423.9236.0646Jun 30, 2026Evaluation ResultsMethodMethodLinksAverage Algorithm Runtime (ms)Anya2026.061.43Zeta*-f2026.062.31A*Connectivity=8Connectivity=82026.0610.52Zeta*-i2026.0620.01A*Connectivity=16Connectivity=162026.0628.95Theta*2026.0634.09A*Connectivity=32Connectivity=322026.0646.41