ResearchBenchmarksTether-aware Motion Planning on Lifelong NavigationTether-aware Motion Planning on Lifelong NavigationFollow100Collision-free ReachTMPD89.80892.45495.197.746Mar 16, 2026Evaluation resultsMethodMethodLinksCollision-free ReachTangle-free RatePlanning TimeTopological Energy CostPath LengthPath SmoothnessTMPDσextra=0.8, τguide=0.1σextra=0.8, τguide=0.12026.03100971.354.741.66344.63Topo-A*2026.0398932.014.871.279159.907MPD2026.0396.8400.935.931.538343.87Topo-RRT2026.0390.2863.684.541.92535.46