ResearchBenchmarksPath Planning on Rand mapPath Planning on Rand mapFollow29.8Average Runtime (ms)A*25.718453.269280.82108.3708Jun 30, 2026Evaluation resultsMethodMethodLinksAverage Runtime (ms)A*Connectivity=8Connectivity=82026.0629.8Theta*2026.0636Zeta*-f2026.0636.34Anya2026.0637.56A*Connectivity=16Connectivity=162026.0652.5A*Connectivity=32Connectivity=322026.0673.53Zeta*-i2026.06131.84