ResearchBenchmarksPath Planning on SC mapFollow10.07Average Algorithm Runtime (ms)Anya0.095667.4228134.75202.0772Jun 30, 2026Evaluation ResultsMethodMethodLinksAverage Algorithm Runtime (ms)Anya2026.0610.07Zeta*-f2026.0612.77A*Connectivity=8Connectivity=82026.0653.64A*Connectivity=16Connectivity=162026.06150.5Zeta*-i2026.06180.09Theta*2026.06189.18A*Connectivity=32Connectivity=322026.06259.43