ResearchBenchmarksPath Planning on Moving AI Lab Boston city map SparsePath Planning on Moving AI Lab Boston city map SparseFollow100Success RateA*-4235077Apr 2, 2026Evaluation resultsMethodMethodLinksSuccess RateTotal Time (s)Path Length (m)A*Continuity=C0Continuity=C02026.041000.0429.823RRT*Continuity=C0Continuity=C02026.041000.82612.491FPPContinuity=CkContinuity=Ck2026.041003.7189.547ProposedContinuity=C∞Continuity=C∞2026.041000.08710.28APFContinuity=C0Continuity=C02026.040——