ResearchBenchmarksPath planning on Forest environmentFollow4.42Processing Time (Goal 1) (ms)FPAS0.81625.14349.4773.797Jun 22, 2026Evaluation ResultsMethodMethodLinksProcessing Time (Goal 1) (ms)Processing Time (Goal 2) (ms)Processing Time (Goal 3) (ms)Average Processing Time (ms)Total Processing Time (ms)FPAS2026.064.422.762.233.14—DSVP-RRT2026.064.615.736.255.53—FAR2026.0648.1483.7587.8173.23—DSVP-RRT2026.0690.32229.69197.09—517.1FPAS2026.0692.17170.77173.75—436.69FAR2026.0694.52149.07138.53—382.12