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• osmAG-Nav achieves up to 7816x lower planning latency than a grid-based baseline on long routes in same-floor navigation.result 95%
• The osmAG-Nav system uses a hierarchical semantic topometric map standard based on OpenStreetMap Area Graph (osmAG) to replace monolithic occupancy grid maps.method 90%
• A Rolling Window mechanism keeps the local costmap memory footprint independent of the total mapped area.technical 85%
• The system employs a structure-aware LiDAR localization framework that filters dynamic clutter using permanent architectural priors.method 90%
• The hierarchical planner uses an LCA-anchored pipeline on a passage-centric graph with edge costs derived from local raster traversability, enabling low-millisecond planning.method 85%
• Occupancy-grid localization is highly sensitive to long-term scene changes like moved furniture and human traffic, which can degrade localization severely.limitation 80%
• The full osmAG-Nav stack is released as modular ROS2 Lifecycle Nodes.technical 95%
• The system architecture follows a decoupled 'system of systems' design that separates global topological reasoning from local metric execution.method 90%

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