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| Indicators | A* algorithm | A* with Expansion Distance | Bidirectional A* with Expansion Distance | EBS-A* algorithm |
|---|---|---|---|---|
| Running time/s | 651.976 | 309.629 | 107.401 | 112.656 |
| Number of nodes | 379 | 413 | 413 | 336 |
| Number of right-angle turns | 45 | 61 | 62 | 0 |
| Max turning angle | 90° | 90° | 90° | 45° |
| Number of expansion nodes | 12,774 | 6,157 | 4,273 | 4,288 |
| Number of critical nodes | 253 | 0 | 0 | 13 |
