And, if a robot arm were to swing out towards you, for safety reasons you would want to be able to immediately stop it and push it back without harming yourself, reverse that motion instantly. For one thing, that requires a back-driveable actuator.
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This map illustrates the OsmAnd routing concept. The route starts in the Start Area Cluster (221558), moves to the nearest Border Point, and continues through precomputed Shortcuts across intermediate clusters. It then enters the Finish Area Cluster (221536) via another border point and finishes using local roads. This method speeds up routing by combining local search with efficient inter-cluster shortcuts.
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