ResearchBenchmarksResource Constrained Shortest Path Problem (RCSPP) on Santa Margarida UGV terrain graph Large (5k->46k)Resource Constrained Shortest Path Problem (RCSPP) on Santa Margarida UGV terrain graph Large (5k->46k)Follow1.191Average Runtime (s)APULSE-1.1632414.7278830.61946.51012Nov 23, 2025Evaluation resultsMethodMethodLinksAverage Runtime (s)APULSEalpha (budget slack)=0.10alpha (budget slack)=0.102025.111.191APULSEalpha (budget slack)=0.20alpha (budget slack)=0.202025.115.873APULSEalpha (budget slack)=0.50alpha (budget slack)=0.502025.1121.602WC-A*alpha (budget slack)=0.20alpha (budget slack)=0.202025.1145.447WC-A*alpha (budget slack)=0.50alpha (budget slack)=0.502025.1149.818WC-A*alpha (budget slack)=0.10alpha (budget slack)=0.102025.1160.047