diff --git a/Cargo.lock b/Cargo.lock
index fbe4422..08894a2 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -624,6 +624,7 @@ dependencies = [
  "serde_yaml",
  "termcolor",
  "tracing",
+ "tracing-subscriber",
 ]
 
 [[package]]
diff --git a/factorio-pathfinding/Cargo.toml b/factorio-pathfinding/Cargo.toml
index f8b736a..d191022 100644
--- a/factorio-pathfinding/Cargo.toml
+++ b/factorio-pathfinding/Cargo.toml
@@ -30,3 +30,4 @@ serde_json = "1.0.108"
 serde_yaml = "0.9.34"
 termcolor = "1.4.1"
 tracing = "0.1.41"
+tracing-subscriber = { version = "0.3.19", features = ["env-filter"] }
diff --git a/factorio-pathfinding/src/bin/path_finding.rs b/factorio-pathfinding/src/bin/path_finding.rs
new file mode 100644
index 0000000..8d0f07e
--- /dev/null
+++ b/factorio-pathfinding/src/bin/path_finding.rs
@@ -0,0 +1,140 @@
+use clap::{Parser, ValueEnum};
+use factorio_core::{
+    aabb::AABB,
+    prelude::{Direction, Position, PositionType},
+};
+use factorio_graph::{
+    priority_queue::{
+        ByKey,
+        binary_heap::{BinaryHeap, FastBinaryHeap},
+        bucket_queue::BucketQueue,
+    },
+    wheighted_graph::shortest_path::QueueObject,
+};
+use factorio_pathfinding::{
+    Connection, Map, PathInput, Pathfinder, belt_finding::ConflictAvoidance,
+};
+use tracing_subscriber::{EnvFilter, fmt::format::FmtSpan};
+
+#[derive(Parser)]
+struct Args {
+    input: PathfindingInputArg,
+    pathfinder: PathfinderArg,
+    size: PositionType,
+}
+
+#[derive(ValueEnum, Clone, Copy)]
+enum PathfinderArg {
+    CaFbh,
+    CaBh,
+    CaBq,
+}
+
+#[derive(ValueEnum, Clone, Copy)]
+enum PathfindingInputArg {
+    EmptyDiagonal,
+    EmptyStraight,
+}
+
+struct EmptyMap {
+    area: AABB,
+}
+
+impl Map for EmptyMap {
+    fn get_position(&self, pos: Position) -> bool {
+        self.area.contains_pos(pos)
+    }
+
+    fn area(&self) -> (Position, Position) {
+        (
+            self.area.min(),
+            self.area.max() - self.area.min() + Position::new(1, 1),
+        )
+    }
+}
+
+fn main() {
+    let args = Args::parse();
+
+    tracing_subscriber::fmt::fmt()
+        .with_env_filter(EnvFilter::from_default_env())
+        .with_span_events(FmtSpan::NEW | FmtSpan::CLOSE)
+        .init();
+
+    match args.input {
+        PathfindingInputArg::EmptyDiagonal => {
+            let connections = vec![Connection {
+                start_pos: Position::new(0, -1),
+                start_dir: Direction::Down,
+                end_pos: Position::new(args.size - 1, args.size),
+                end_dir: Direction::Down,
+                beltspeed: factorio_core::beltoptions::Beltspeed::Normal,
+                lanes: 1,
+            }];
+            let map = EmptyMap {
+                area: AABB::new(
+                    Position::new(0, 0),
+                    Position::new(args.size - 1, args.size - 1),
+                ),
+            };
+            let path_input = PathInput {
+                connections: &connections,
+                map,
+            };
+            execute(&args, path_input);
+        }
+        PathfindingInputArg::EmptyStraight => {
+            let connections = vec![Connection {
+                start_pos: Position::new(args.size / 2, -1),
+                start_dir: Direction::Down,
+                end_pos: Position::new(args.size / 2, args.size),
+                end_dir: Direction::Down,
+                beltspeed: factorio_core::beltoptions::Beltspeed::Normal,
+                lanes: 1,
+            }];
+            let map = EmptyMap {
+                area: AABB::new(
+                    Position::new(0, 0),
+                    Position::new(args.size - 1, args.size - 1),
+                ),
+            };
+            let path_input = PathInput {
+                connections: &connections,
+                map,
+            };
+            execute(&args, path_input);
+        }
+    }
+}
+
+fn execute<'a, M: Map>(args: &Args, path_input: PathInput<'a, M>) {
+    match args.pathfinder {
+        PathfinderArg::CaFbh => {
+            let p = ConflictAvoidance {
+                timeout: Some(std::time::Duration::from_millis(100)),
+                priority_queue: std::marker::PhantomData::<
+                    FastBinaryHeap<ByKey<QueueObject<(Position, Direction)>>>,
+                >,
+            };
+            p.find_paths(path_input);
+        }
+        PathfinderArg::CaBh => {
+            let p = ConflictAvoidance {
+                timeout: Some(std::time::Duration::from_millis(100)),
+                priority_queue: std::marker::PhantomData::<
+                    BinaryHeap<ByKey<QueueObject<(Position, Direction)>>>,
+                >,
+            };
+            p.find_paths(path_input);
+        }
+        PathfinderArg::CaBq => {
+            let p = ConflictAvoidance {
+                timeout: Some(std::time::Duration::from_millis(100)),
+                priority_queue: std::marker::PhantomData::<
+                    BucketQueue<QueueObject<(Position, Direction)>>,
+                >,
+            };
+            p.find_paths(path_input);
+        }
+    }
+}