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Comparison of planned path lengths in a 20 × 20 grid environment.
| Algorithm | Longest path | Shortest path | Average |
|---|---|---|---|
| AFSA-S4 | 43.2366 | 39.2361 | 39.5647 |
| ASFA-S8 | 31.2132 | 29.2132 | 30.6538 |
| ASFA-S16 | 34.9494 | 27.9367 | 29.6522 |
| DASFA-S16 | 30.9596 | 28.7814 | 29.5581 |
| IDAFSA-S16 | 30.4361 | 29.2648 | 29.4916 |
