ResearchBenchmarksPath Planning on Tunnel environmentPath Planning on Tunnel environmentFollow7.22Goal 1 Latency (ms)FAR6.9288.89910.8712.841Jun 22, 2026Evaluation resultsMethodMethodLinksGoal 1 Latency (ms)Goal 2 Latency (ms)Goal 3 Latency (ms)Goal 4 Latency (ms)Average Latency (ms)FAR2026.067.2210.5612.6710.5810.26DSVP-RRT2026.0612.3111.4216.0514.513.57FPAS2026.0614.5211.2511.2311.8612.22