ResearchBenchmarksPath planning on Forest environmentPath 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