diff --git a/README.md b/README.md
index 4fba041..4aea8d0 100644
--- a/README.md
+++ b/README.md
@@ -55,6 +55,19 @@ if results["net1"].is_valid:
     print("Successfully routed net1!")
 ```
 
+## Usage Examples
+
+Check the `examples/` directory for ready-to-run scripts demonstrating core features:
+
+*   **`examples/01_simple_route.py`**: Basic single-net routing with visualization.
+*   **`examples/02_congestion_resolution.py`**: Multi-net routing resolving bottlenecks using Negotiated Congestion.
+*   **`examples/03_locked_paths.py`**: Incremental workflow using `lock_net()` to route around previously fixed paths.
+
+Run an example:
+```bash
+python3 examples/01_simple_route.py
+```
+
 ## Architecture
 
 `inire` operates on a **State-Lattice** defined by $(x, y, \theta)$. From any state, the router expands via three primary "Move" types:
diff --git a/examples/01_simple_route.py b/examples/01_simple_route.py
new file mode 100644
index 0000000..cb2b893
--- /dev/null
+++ b/examples/01_simple_route.py
@@ -0,0 +1,58 @@
+from shapely.geometry import Polygon
+
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import PathFinder
+from inire.utils.visualization import plot_routing_results
+
+
+def main() -> None:
+    print("Running Example 01: Simple Route...")
+
+    # 1. Setup Environment
+    # Define the routing area bounds (minx, miny, maxx, maxy)
+    bounds = (0, 0, 100, 100)
+
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=bounds)
+
+    # Add a simple rectangular obstacle
+    obstacle = Polygon([(30, 20), (70, 20), (70, 40), (30, 40)])
+    engine.add_static_obstacle(obstacle)
+
+    # Precompute the danger map (distance field) for heuristics
+    danger_map.precompute([obstacle])
+
+    evaluator = CostEvaluator(engine, danger_map)
+    router = AStarRouter(evaluator)
+    pf = PathFinder(router, evaluator)
+
+    # 2. Define Netlist
+    # Route from (10, 10) to (90, 50)
+    # The obstacle at y=20-40 blocks the direct path.
+    netlist = {
+        "simple_net": (Port(10, 10, 0), Port(90, 50, 0)),
+    }
+    net_widths = {"simple_net": 2.0}
+
+    # 3. Route
+    results = pf.route_all(netlist, net_widths)
+
+    # 4. Check Results
+    if results["simple_net"].is_valid:
+        print("Success! Route found.")
+        print(f"Path collisions: {results['simple_net'].collisions}")
+    else:
+        print("Failed to route.")
+
+    # 5. Visualize
+    fig, ax = plot_routing_results(results, [obstacle], bounds)
+    fig.savefig("examples/simple_route.png")
+    print("Saved plot to examples/simple_route.png")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/examples/02_congestion_resolution.py b/examples/02_congestion_resolution.py
new file mode 100644
index 0000000..7ebb888
--- /dev/null
+++ b/examples/02_congestion_resolution.py
@@ -0,0 +1,54 @@
+
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import PathFinder
+from inire.utils.visualization import plot_routing_results
+
+
+def main() -> None:
+    print("Running Example 02: Congestion Resolution (Crossing)...")
+
+    # 1. Setup Environment (Open space)
+    bounds = (0, 0, 100, 100)
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=bounds)
+    danger_map.precompute([])
+
+    evaluator = CostEvaluator(engine, danger_map)
+    router = AStarRouter(evaluator)
+    pf = PathFinder(router, evaluator)
+
+    # 2. Define Netlist
+    # Two nets that MUST cross.
+    # Since crossings are illegal in single-layer routing, one net must detour around the other.
+    netlist = {
+        "horizontal": (Port(10, 50, 0), Port(90, 50, 0)),
+        "vertical": (Port(50, 10, 90), Port(50, 90, 90)),
+    }
+    net_widths = {"horizontal": 2.0, "vertical": 2.0}
+
+    # 3. Route with Negotiated Congestion
+    # We increase the base penalty to encourage faster divergence
+    pf.base_congestion_penalty = 500.0
+    results = pf.route_all(netlist, net_widths)
+
+    # 4. Check Results
+    all_valid = all(r.is_valid for r in results.values())
+    if all_valid:
+        print("Success! Congestion resolved (one net detoured).")
+    else:
+        print("Some nets failed or have collisions.")
+        for nid, res in results.items():
+            print(f"  {nid}: valid={res.is_valid}, collisions={res.collisions}")
+
+    # 5. Visualize
+    fig, ax = plot_routing_results(results, [], bounds)
+    fig.savefig("examples/congestion.png")
+    print("Saved plot to examples/congestion.png")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/examples/03_locked_paths.py b/examples/03_locked_paths.py
new file mode 100644
index 0000000..42b2a8f
--- /dev/null
+++ b/examples/03_locked_paths.py
@@ -0,0 +1,76 @@
+
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import PathFinder
+from inire.utils.visualization import plot_routing_results
+
+
+def main() -> None:
+    print("Running Example 03: Locked Paths (Incremental Routing)...")
+
+    # 1. Setup Environment
+    bounds = (0, 0, 100, 100)
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=bounds)
+    danger_map.precompute([]) # No initial obstacles
+
+    evaluator = CostEvaluator(engine, danger_map)
+    router = AStarRouter(evaluator)
+    pf = PathFinder(router, evaluator)
+
+    # 2. Phase 1: Route a "Critical" Net
+    # This net gets priority and takes the best path.
+    netlist_phase1 = {
+        "critical_net": (Port(10, 50, 0), Port(90, 50, 0)),
+    }
+    print("Phase 1: Routing critical_net...")
+    results1 = pf.route_all(netlist_phase1, {"critical_net": 3.0}) # Wider trace
+
+    if not results1["critical_net"].is_valid:
+        print("Error: Phase 1 failed.")
+        return
+
+    # 3. Lock the Critical Net
+    # This converts the dynamic path into a static obstacle in the collision engine.
+    print("Locking critical_net...")
+    engine.lock_net("critical_net")
+
+    # Update danger map to reflect the new obstacle (optional but recommended for heuristics)
+    # Extract polygons from result
+    path_polys = [p for comp in results1["critical_net"].path for p in comp.geometry]
+    danger_map.precompute(path_polys)
+
+    # 4. Phase 2: Route a Secondary Net
+    # This net must route *around* the locked critical_net.
+    # Start and end points force a crossing path if it were straight.
+    netlist_phase2 = {
+        "secondary_net": (Port(50, 10, 90), Port(50, 90, 90)),
+    }
+
+    print("Phase 2: Routing secondary_net around locked path...")
+    results2 = pf.route_all(netlist_phase2, {"secondary_net": 2.0})
+
+    if results2["secondary_net"].is_valid:
+        print("Success! Secondary net routed around locked path.")
+    else:
+        print("Failed to route secondary net.")
+
+    # 5. Visualize
+    # Combine results for plotting
+    all_results = {**results1, **results2}
+
+    # Note: 'critical_net' is now in engine.static_obstacles internally,
+    # but for visualization we plot it from the result object to see it clearly.
+    # We pass an empty list for 'static_obstacles' to plot_routing_results
+    # because we want to see the path colored, not grayed out as an obstacle.
+
+    fig, ax = plot_routing_results(all_results, [], bounds)
+    fig.savefig("examples/locked.png")
+    print("Saved plot to examples/locked.png")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/examples/congestion.png b/examples/congestion.png
new file mode 100644
index 0000000..83e2a7d
Binary files /dev/null and b/examples/congestion.png differ
diff --git a/examples/locked.png b/examples/locked.png
new file mode 100644
index 0000000..7701636
Binary files /dev/null and b/examples/locked.png differ
diff --git a/examples/simple_route.png b/examples/simple_route.png
new file mode 100644
index 0000000..a012440
Binary files /dev/null and b/examples/simple_route.png differ
diff --git a/inire/geometry/collision.py b/inire/geometry/collision.py
index f41c4c2..bd20d5e 100644
--- a/inire/geometry/collision.py
+++ b/inire/geometry/collision.py
@@ -40,16 +40,9 @@ class CollisionEngine:
         self.obstacle_geometries[obj_id] = polygon
         self.prepared_obstacles[obj_id] = prep(polygon)
 
-        # Index the bounding box of the polygon (dilated for broad prune)
-        # Spec: "All user-provided obstacles are pre-dilated by (W_max + C)/2"
-        dilation = (self.max_net_width + self.clearance) / 2.0
-        dilated_bounds = (
-            polygon.bounds[0] - dilation,
-            polygon.bounds[1] - dilation,
-            polygon.bounds[2] + dilation,
-            polygon.bounds[3] + dilation,
-        )
-        self.static_obstacles.insert(obj_id, dilated_bounds)
+        # Index the bounding box of the original polygon
+        # We query with dilated moves, so original bounds are enough
+        self.static_obstacles.insert(obj_id, polygon.bounds)
 
     def add_path(self, net_id: str, geometry: list[Polygon]) -> None:
         """Add a net's routed path to the dynamic R-Tree."""
@@ -119,13 +112,13 @@ class CollisionEngine:
         end_port: Port | None = None,
     ) -> bool:
         """Check if a pre-dilated geometry collides with static obstacles."""
-        # Broad prune with R-Tree
+        # Query R-Tree using the bounds of the dilated move
         candidates = self.static_obstacles.intersection(dilated_geometry.bounds)
 
         for obj_id in candidates:
             # Use prepared geometry for fast intersection
             if self.prepared_obstacles[obj_id].intersects(dilated_geometry):
-                # Check safety zone (2nm = 0.002 um)
+                # Check safety zone (2nm radius)
                 if start_port or end_port:
                     obstacle = self.obstacle_geometries[obj_id]
                     intersection = dilated_geometry.intersection(obstacle)
@@ -133,20 +126,23 @@ class CollisionEngine:
                     if intersection.is_empty:
                         continue
 
-                    # Create safety zone polygons
-                    safety_zones = []
+                    # Precise check: is every point in the intersection close to either port?
+                    ix_minx, ix_miny, ix_maxx, ix_maxy = intersection.bounds
+                    
+                    is_near_start = False
                     if start_port:
-                        safety_zones.append(Point(start_port.x, start_port.y).buffer(0.002))
+                        if (abs(ix_minx - start_port.x) < 0.0021 and abs(ix_maxx - start_port.x) < 0.0021 and
+                            abs(ix_miny - start_port.y) < 0.0021 and abs(ix_maxy - start_port.y) < 0.0021):
+                            is_near_start = True
+                            
+                    is_near_end = False
                     if end_port:
-                        safety_zones.append(Point(end_port.x, end_port.y).buffer(0.002))
-
-                    if safety_zones:
-                        safe_poly = unary_union(safety_zones)
-                        # Remove safe zones from intersection
-                        remaining_collision = intersection.difference(safe_poly)
-                        if remaining_collision.is_empty or remaining_collision.area < 1e-9:
-                            continue
+                        if (abs(ix_minx - end_port.x) < 0.0021 and abs(ix_maxx - end_port.x) < 0.0021 and
+                            abs(ix_miny - end_port.y) < 0.0021 and abs(ix_maxy - end_port.y) < 0.0021):
+                            is_near_end = True
+                            
+                    if is_near_start or is_near_end:
+                        continue
 
                 return True
         return False
-
diff --git a/inire/geometry/components.py b/inire/geometry/components.py
index 8374620..10f5f8b 100644
--- a/inire/geometry/components.py
+++ b/inire/geometry/components.py
@@ -12,32 +12,40 @@ SEARCH_GRID_SNAP_UM = 1.0
 
 
 def snap_search_grid(value: float) -> float:
-    """Snap a coordinate to the nearest 1µm."""
+    """Snap a coordinate to the nearest search grid unit."""
     return round(value / SEARCH_GRID_SNAP_UM) * SEARCH_GRID_SNAP_UM
 
 
 class ComponentResult(NamedTuple):
-    """The result of a component generation: geometry and the final port."""
+    """The result of a component generation: geometry, final port, and physical length."""
 
     geometry: list[Polygon]
     end_port: Port
+    length: float
 
 
 class Straight:
     @staticmethod
-    def generate(start_port: Port, length: float, width: float) -> ComponentResult:
+    def generate(start_port: Port, length: float, width: float, snap_to_grid: bool = True) -> ComponentResult:
         """Generate a straight waveguide segment."""
-        # Calculate end port position
         rad = np.radians(start_port.orientation)
         dx = length * np.cos(rad)
         dy = length * np.sin(rad)
 
-        end_port = Port(start_port.x + dx, start_port.y + dy, start_port.orientation)
+        ex = start_port.x + dx
+        ey = start_port.y + dy
+        
+        if snap_to_grid:
+            ex = snap_search_grid(ex)
+            ey = snap_search_grid(ey)
 
-        # Create polygon (centered on port)
+        end_port = Port(ex, ey, start_port.orientation)
+        actual_length = np.sqrt((end_port.x - start_port.x)**2 + (end_port.y - start_port.y)**2)
+
+        # Create polygon
         half_w = width / 2.0
         # Points relative to start port (0,0)
-        points = [(0, half_w), (length, half_w), (length, -half_w), (0, -half_w)]
+        points = [(0, half_w), (actual_length, half_w), (actual_length, -half_w), (0, -half_w)]
 
         # Transform points
         cos_val = np.cos(rad)
@@ -48,56 +56,48 @@ class Straight:
             ty = start_port.y + px * sin_val + py * cos_val
             poly_points.append((tx, ty))
 
-        return ComponentResult(geometry=[Polygon(poly_points)], end_port=end_port)
+        return ComponentResult(geometry=[Polygon(poly_points)], end_port=end_port, length=actual_length)
 
 
 def _get_num_segments(radius: float, angle_deg: float, sagitta: float = 0.01) -> int:
     """Calculate number of segments for an arc to maintain a maximum sagitta."""
     if radius <= 0:
         return 1
-    # angle_deg is absolute angle turned
-    # s = R(1 - cos(theta/2)) => cos(theta/2) = 1 - s/R
-    # theta = 2 * acos(1 - s/R)
-    # n = total_angle / theta
     ratio = max(0.0, min(1.0, 1.0 - sagitta / radius))
     theta_max = 2.0 * np.arccos(ratio)
-    if theta_max == 0:
+    if theta_max < 1e-9:
         return 16
     num = int(np.ceil(np.radians(abs(angle_deg)) / theta_max))
-    return max(4, num)
+    return max(8, num)
 
 
 class Bend90:
     @staticmethod
     def generate(start_port: Port, radius: float, width: float, direction: str = "CW", sagitta: float = 0.01) -> ComponentResult:
         """Generate a 90-degree bend."""
-        # direction: 'CW' (-90) or 'CCW' (+90)
         turn_angle = -90 if direction == "CW" else 90
 
-        # Calculate center of the arc
+        # Calculate center
         rad_start = np.radians(start_port.orientation)
-        center_angle = rad_start + (np.pi / 2 if direction == "CCW" else -np.pi / 2)
-        cx = start_port.x + radius * np.cos(center_angle)
-        cy = start_port.y + radius * np.sin(center_angle)
+        c_angle = rad_start + (np.pi / 2 if direction == "CCW" else -np.pi / 2)
+        cx = start_port.x + radius * np.cos(c_angle)
+        cy = start_port.y + radius * np.sin(c_angle)
 
-        # Center to start is radius at center_angle + pi
-        theta_start = center_angle + np.pi
-        theta_end = theta_start + (np.pi / 2 if direction == "CCW" else -np.pi / 2)
+        t_start = c_angle + np.pi
+        t_end = t_start + (np.pi / 2 if direction == "CCW" else -np.pi / 2)
 
-        ex = cx + radius * np.cos(theta_end)
-        ey = cy + radius * np.sin(theta_end)
-
-        # End port orientation
+        # End port (snapped to lattice)
+        ex = snap_search_grid(cx + radius * np.cos(t_end))
+        ey = snap_search_grid(cy + radius * np.sin(t_end))
+        
         end_orientation = (start_port.orientation + turn_angle) % 360
-
-        snapped_ex = snap_search_grid(ex)
-        snapped_ey = snap_search_grid(ey)
-
-        end_port = Port(snapped_ex, snapped_ey, float(end_orientation))
+        end_port = Port(ex, ey, float(end_orientation))
+        
+        actual_length = radius * np.pi / 2.0
 
         # Generate arc geometry
         num_segments = _get_num_segments(radius, 90, sagitta)
-        angles = np.linspace(theta_start, theta_end, num_segments + 1)
+        angles = np.linspace(t_start, t_end, num_segments + 1)
 
         inner_radius = radius - width / 2.0
         outer_radius = radius + width / 2.0
@@ -105,66 +105,55 @@ class Bend90:
         inner_points = [(cx + inner_radius * np.cos(a), cy + inner_radius * np.sin(a)) for a in angles]
         outer_points = [(cx + outer_radius * np.cos(a), cy + outer_radius * np.sin(a)) for a in reversed(angles)]
 
-        return ComponentResult(geometry=[Polygon(inner_points + outer_points)], end_port=end_port)
+        return ComponentResult(geometry=[Polygon(inner_points + outer_points)], end_port=end_port, length=actual_length)
 
 
 class SBend:
     @staticmethod
     def generate(start_port: Port, offset: float, radius: float, width: float, sagitta: float = 0.01) -> ComponentResult:
-        """Generate a parametric S-bend (two tangent arcs). Only for offset < 2*radius."""
+        """Generate a parametric S-bend (two tangent arcs)."""
         if abs(offset) >= 2 * radius:
             raise ValueError(f"SBend offset {offset} must be less than 2*radius {2 * radius}")
 
-        # Analytical length: L = 2 * sqrt(O * (2*R - O/4)) is for a specific S-bend type.
-        # Standard S-bend with two equal arcs:
-        # Offset O = 2 * R * (1 - cos(theta))
-        # theta = acos(1 - O / (2*R))
         theta = np.arccos(1 - abs(offset) / (2 * radius))
-
-        # Length of one arc = R * theta
-        # Total length of S-bend = 2 * R * theta (arc length)
-        # Horizontal distance dx = 2 * R * sin(theta)
-
         dx = 2 * radius * np.sin(theta)
         dy = offset
 
-        # End port
+        # End port (snapped to lattice)
         rad_start = np.radians(start_port.orientation)
-        ex = start_port.x + dx * np.cos(rad_start) - dy * np.sin(rad_start)
-        ey = start_port.y + dx * np.sin(rad_start) + dy * np.cos(rad_start)
-
+        ex = snap_search_grid(start_port.x + dx * np.cos(rad_start) - dy * np.sin(rad_start))
+        ey = snap_search_grid(start_port.y + dx * np.sin(rad_start) + dy * np.cos(rad_start))
         end_port = Port(ex, ey, start_port.orientation)
+        
+        actual_length = 2 * radius * theta
 
-        # Geometry: two arcs
-        # First arc center
+        # Arc centers and angles (Relative to start orientation)
         direction = 1 if offset > 0 else -1
-        center_angle1 = rad_start + direction * np.pi / 2
-        cx1 = start_port.x + radius * np.cos(center_angle1)
-        cy1 = start_port.y + radius * np.sin(center_angle1)
+        
+        # Arc 1
+        c1_angle = rad_start + direction * np.pi / 2
+        cx1 = start_port.x + radius * np.cos(c1_angle)
+        cy1 = start_port.y + radius * np.sin(c1_angle)
+        t_start1 = c1_angle + np.pi
+        t_end1 = t_start1 + direction * theta
 
-        # Second arc center
-        center_angle2 = rad_start - direction * np.pi / 2
-        cx2 = ex + radius * np.cos(center_angle2)
-        cy2 = ey + radius * np.sin(center_angle2)
+        # Arc 2 (Calculated relative to un-snapped end to ensure perfect tangency)
+        ex_raw = start_port.x + dx * np.cos(rad_start) - dy * np.sin(rad_start)
+        ey_raw = start_port.y + dx * np.sin(rad_start) + dy * np.cos(rad_start)
+        c2_angle = rad_start - direction * np.pi / 2
+        cx2 = ex_raw + radius * np.cos(c2_angle)
+        cy2 = ey_raw + radius * np.sin(c2_angle)
+        t_end2 = c2_angle + np.pi
+        t_start2 = t_end2 + direction * theta
 
-        # Generate points for both arcs
-        num_segments = _get_num_segments(radius, float(np.degrees(theta)), sagitta)
-        # Arc 1: theta_start1 to theta_end1
-        theta_start1 = center_angle1 + np.pi
-        theta_end1 = theta_start1 - direction * theta
-
-        # Arc 2: theta_start2 to theta_end2
-        theta_start2 = center_angle2
-        theta_end2 = theta_start2 + direction * theta
-
-        def get_arc_points(cx: float, cy: float, r_inner: float, r_outer: float, t_start: float, t_end: float) -> list[tuple[float, float]]:
-            angles = np.linspace(t_start, t_end, num_segments + 1)
+        def get_arc_points(cx: float, cy: float, r_inner: float, r_outer: float, ts: float, te: float) -> list[tuple[float, float]]:
+            num_segments = _get_num_segments(radius, float(np.degrees(theta)), sagitta)
+            angles = np.linspace(ts, te, num_segments + 1)
             inner = [(cx + r_inner * np.cos(a), cy + r_inner * np.sin(a)) for a in angles]
             outer = [(cx + r_outer * np.cos(a), cy + r_outer * np.sin(a)) for a in reversed(angles)]
             return inner + outer
 
-        poly1 = Polygon(get_arc_points(cx1, cy1, radius - width / 2, radius + width / 2, theta_start1, theta_end1))
-        poly2 = Polygon(get_arc_points(cx2, cy2, radius - width / 2, radius + width / 2, theta_end2, theta_start2))
-
-        return ComponentResult(geometry=[poly1, poly2], end_port=end_port)
+        poly1 = Polygon(get_arc_points(cx1, cy1, radius - width / 2, radius + width / 2, t_start1, t_end1))
+        poly2 = Polygon(get_arc_points(cx2, cy2, radius - width / 2, radius + width / 2, t_start2, t_end2))
 
+        return ComponentResult(geometry=[poly1, poly2], end_port=end_port, length=actual_length)
diff --git a/inire/router/astar.py b/inire/router/astar.py
index fdf9b27..44b6b6a 100644
--- a/inire/router/astar.py
+++ b/inire/router/astar.py
@@ -48,17 +48,15 @@ class AStarNode:
 class AStarRouter:
     def __init__(self, cost_evaluator: CostEvaluator) -> None:
         self.cost_evaluator = cost_evaluator
-        self.node_limit = 100000
+        self.node_limit = 1000000
         self.total_nodes_expanded = 0
         self._collision_cache: dict[tuple[float, float, float, str, float, str], bool] = {}
 
-    def route(
-        self, start: Port, target: Port, net_width: float, net_id: str = "default"
-    ) -> list[ComponentResult] | None:
+    def route(self, start: Port, target: Port, net_width: float, net_id: str = "default") -> list[ComponentResult] | None:
         """Route a single net using A*."""
         self._collision_cache.clear()
         open_set: list[AStarNode] = []
-        # Key: (x, y, orientation)
+        # Key: (x, y, orientation) rounded to 1nm
         closed_set: set[tuple[float, float, float]] = set()
 
         start_node = AStarNode(start, 0.0, self.cost_evaluator.h_manhattan(start, target))
@@ -73,27 +71,28 @@ class AStarRouter:
 
             current = heapq.heappop(open_set)
 
-            state = (current.port.x, current.port.y, current.port.orientation)
+            # Prune if already visited
+            state = (round(current.port.x, 3), round(current.port.y, 3), round(current.port.orientation, 2))
             if state in closed_set:
                 continue
             closed_set.add(state)
+            
             nodes_expanded += 1
             self.total_nodes_expanded += 1
 
-            # Check if we reached the target (Snap-to-Target)
+            if nodes_expanded % 5000 == 0:
+                logger.info(f"Nodes expanded: {nodes_expanded}, current port: {current.port}, g: {current.g_cost:.1f}, h: {current.h_cost:.1f}")
+
+            # Check if we reached the target exactly
             if (
                 abs(current.port.x - target.x) < 1e-6
                 and abs(current.port.y - target.y) < 1e-6
-                and current.port.orientation == target.orientation
+                and abs(current.port.orientation - target.orientation) < 0.1
             ):
                 return self._reconstruct_path(current)
 
-            # Look-ahead snapping
-            if self._try_snap_to_target(current, target, net_width, net_id, open_set):
-                pass
-
-            # Expand neighbors
-            self._expand_moves(current, target, net_width, net_id, open_set)
+            # Expansion
+            self._expand_moves(current, target, net_width, net_id, open_set, closed_set)
 
         return None
 
@@ -104,29 +103,52 @@ class AStarRouter:
         net_width: float,
         net_id: str,
         open_set: list[AStarNode],
+        closed_set: set[tuple[float, float, float]],
     ) -> None:
-        # 1. Straights
-        for length in [0.5, 1.0, 5.0, 25.0]:
-            res = Straight.generate(current.port, length, net_width)
-            self._add_node(current, res, target, net_width, net_id, open_set, f"S{length}")
+        # 1. Snap-to-Target Look-ahead
+        dist = np.sqrt((current.port.x - target.x) ** 2 + (current.port.y - target.y) ** 2)
+        if dist < 30.0:
+            # A. Try straight exact reach
+            if abs(current.port.orientation - target.orientation) < 0.1:
+                rad = np.radians(current.port.orientation)
+                dx = target.x - current.port.x
+                dy = target.y - current.port.y
+                proj = dx * np.cos(rad) + dy * np.sin(rad)
+                perp = -dx * np.sin(rad) + dy * np.cos(rad)
+                if proj > 0 and abs(perp) < 1e-6:
+                    res = Straight.generate(current.port, proj, net_width, snap_to_grid=False)
+                    self._add_node(current, res, target, net_width, net_id, open_set, closed_set, "SnapStraight")
+            
+            # B. Try SBend exact reach
+            if abs(current.port.orientation - target.orientation) < 0.1:
+                rad = np.radians(current.port.orientation)
+                dx = target.x - current.port.x
+                dy = target.y - current.port.y
+                proj = dx * np.cos(rad) + dy * np.sin(rad)
+                perp = -dx * np.sin(rad) + dy * np.cos(rad)
+                if proj > 0 and 0.5 <= abs(perp) < 20.0:
+                    try:
+                        res = SBend.generate(current.port, perp, 10.0, net_width)
+                        self._add_node(current, res, target, net_width, net_id, open_set, closed_set, "SnapSBend")
+                    except ValueError:
+                        pass
 
-        # 2. Bends
-        for radius in [5.0, 10.0, 20.0]:
+        # 2. Lattice Straights
+        for length in [1.0, 5.0, 25.0]:
+            res = Straight.generate(current.port, length, net_width)
+            self._add_node(current, res, target, net_width, net_id, open_set, closed_set, f"S{length}")
+
+        # 3. Lattice Bends
+        for radius in [10.0]:
             for direction in ["CW", "CCW"]:
                 res = Bend90.generate(current.port, radius, net_width, direction)
-                self._add_node(current, res, target, net_width, net_id, open_set, f"B{radius}{direction}")
+                self._add_node(current, res, target, net_width, net_id, open_set, closed_set, f"B{radius}{direction}")
 
-        # 3. Parametric SBends
-        dx = target.x - current.port.x
-        dy = target.y - current.port.y
-        rad = np.radians(current.port.orientation)
-        local_dy = -dx * np.sin(rad) + dy * np.cos(rad)
-
-        if 0 < abs(local_dy) < 40.0:  # Match max 2*R
+        # 4. Discrete SBends
+        for offset in [-5.0, -2.0, 2.0, 5.0]:
             try:
-                # Use a standard radius for expansion
-                res = SBend.generate(current.port, local_dy, 20.0, net_width)
-                self._add_node(current, res, target, net_width, net_id, open_set, f"SB{local_dy}")
+                res = SBend.generate(current.port, offset, 10.0, net_width)
+                self._add_node(current, res, target, net_width, net_id, open_set, closed_set, f"SB{offset}")
             except ValueError:
                 pass
 
@@ -138,12 +160,18 @@ class AStarRouter:
         net_width: float,
         net_id: str,
         open_set: list[AStarNode],
+        closed_set: set[tuple[float, float, float]],
         move_type: str,
     ) -> None:
+        # Check closed set before adding to open set
+        state = (round(result.end_port.x, 3), round(result.end_port.y, 3), round(result.end_port.orientation, 2))
+        if state in closed_set:
+            return
+
         cache_key = (
-            parent.port.x,
-            parent.port.y,
-            parent.port.orientation,
+            round(parent.port.x, 3),
+            round(parent.port.y, 3),
+            round(parent.port.orientation, 2),
             move_type,
             net_width,
             net_id,
@@ -161,44 +189,56 @@ class AStarRouter:
             if hard_coll:
                 return
 
-        move_cost = self.cost_evaluator.evaluate_move(result.geometry, result.end_port, net_width, net_id, start_port=parent.port)
+        # 3. Check for Self-Intersection (Limited to last 100 segments for performance)
+        dilation = self.cost_evaluator.collision_engine.clearance / 2.0
+        for move_poly in result.geometry:
+            dilated_move = move_poly.buffer(dilation)
+            curr_p = parent
+            # Skip immediate parent
+            seg_idx = 0
+            while curr_p and curr_p.component_result and seg_idx < 100:
+                if seg_idx > 0:
+                    for prev_poly in curr_p.component_result.geometry:
+                        # Optimization: fast bounding box check
+                        if dilated_move.bounds[0] > prev_poly.bounds[2] + dilation or \
+                           dilated_move.bounds[2] < prev_poly.bounds[0] - dilation or \
+                           dilated_move.bounds[1] > prev_poly.bounds[3] + dilation or \
+                           dilated_move.bounds[3] < prev_poly.bounds[1] - dilation:
+                            continue
+                            
+                        dilated_prev = prev_poly.buffer(dilation)
+                        if dilated_move.intersects(dilated_prev):
+                            overlap = dilated_move.intersection(dilated_prev)
+                            if overlap.area > 1e-6:
+                                return
+                curr_p = curr_p.parent
+                seg_idx += 1
 
-        g_cost = parent.g_cost + move_cost + self._step_cost(result)
+        move_cost = self.cost_evaluator.evaluate_move(
+            result.geometry, 
+            result.end_port, 
+            net_width, 
+            net_id, 
+            start_port=parent.port,
+            length=result.length
+        )
+
+        if move_cost > 1e12:
+            return
+
+        # Substantial penalties for turns to favor straights, 
+        # but low enough to allow detours in complex environments.
+        if "B" in move_type:
+            move_cost += 50.0
+        if "SB" in move_type:
+            move_cost += 100.0
+
+        g_cost = parent.g_cost + move_cost
         h_cost = self.cost_evaluator.h_manhattan(result.end_port, target)
 
         new_node = AStarNode(result.end_port, g_cost, h_cost, parent, result)
         heapq.heappush(open_set, new_node)
 
-    def _step_cost(self, result: ComponentResult) -> float:
-        _ = result  # Unused in base implementation
-        return 0.0
-
-    def _try_snap_to_target(
-        self,
-        current: AStarNode,
-        target: Port,
-        net_width: float,
-        net_id: str,
-        open_set: list[AStarNode],
-    ) -> bool:
-        dist = np.sqrt((current.port.x - target.x) ** 2 + (current.port.y - target.y) ** 2)
-        if dist > 10.0:
-            return False
-
-        if current.port.orientation == target.orientation:
-            rad = np.radians(current.port.orientation)
-            dx = target.x - current.port.x
-            dy = target.y - current.port.y
-
-            proj = dx * np.cos(rad) + dy * np.sin(rad)
-            perp = -dx * np.sin(rad) + dy * np.cos(rad)
-
-            if proj > 0 and abs(perp) < 1e-6:
-                res = Straight.generate(current.port, proj, net_width)
-                self._add_node(current, res, target, net_width, net_id, open_set, "SnapTarget")
-                return True
-        return False
-
     def _reconstruct_path(self, end_node: AStarNode) -> list[ComponentResult]:
         path = []
         curr: AStarNode | None = end_node
@@ -206,4 +246,3 @@ class AStarRouter:
             path.append(curr.component_result)
             curr = curr.parent
         return path[::-1]
-
diff --git a/inire/router/cost.py b/inire/router/cost.py
index 81e6dc8..94ff177 100644
--- a/inire/router/cost.py
+++ b/inire/router/cost.py
@@ -18,9 +18,9 @@ class CostEvaluator:
         self.danger_map = danger_map
         # Cost weights
         self.unit_length_cost = 1.0
-        self.bend_cost_multiplier = 10.0
+        self.bend_cost_multiplier = 100.0 # Per turn penalty
         self.greedy_h_weight = 1.1
-        self.congestion_penalty = 100.0  # Multiplier for overlaps
+        self.congestion_penalty = 10000.0  # Massive multiplier for overlaps
 
     def g_proximity(self, x: float, y: float) -> float:
         """Get proximity cost from the Danger Map."""
@@ -44,25 +44,31 @@ class CostEvaluator:
         net_width: float,
         net_id: str,
         start_port: Port | None = None,
+        length: float = 0.0,
     ) -> float:
         """Calculate the cost of a single move (Straight, Bend, SBend)."""
-        _ = net_width  # Unused, kept for API compatibility
-        total_cost = 0.0
-        dilation = self.collision_engine.clearance / 2.0
-
-        # Strict collision check
+        _ = net_width  # Unused
+        total_cost = length * self.unit_length_cost
+        
+        # 1. Hard Collision check (Static obstacles)
+        # We buffer by the full clearance to ensure distance >= clearance
+        hard_dilation = self.collision_engine.clearance
         for poly in geometry:
-            # Buffer once for both hard collision and congestion check
-            dilated_poly = poly.buffer(dilation)
-
+            dilated_poly = poly.buffer(hard_dilation)
             if self.collision_engine.is_collision_prebuffered(dilated_poly, start_port=start_port, end_port=end_port):
-                return 1e9  # Massive cost for hard collisions
+                # print(f"DEBUG: Hard collision detected at {end_port}")
+                return 1e15  # Impossible cost for hard collisions
 
-            # Negotiated Congestion Cost
+        # 2. Soft Collision check (Negotiated Congestion)
+        # We buffer by clearance/2 because both paths are buffered by clearance/2
+        soft_dilation = self.collision_engine.clearance / 2.0
+        for poly in geometry:
+            dilated_poly = poly.buffer(soft_dilation)
             overlaps = self.collision_engine.count_congestion_prebuffered(dilated_poly, net_id)
-            total_cost += overlaps * self.congestion_penalty
+            if overlaps > 0:
+                total_cost += overlaps * self.congestion_penalty
 
-        # Proximity cost from Danger Map
+        # 3. Proximity cost from Danger Map
         total_cost += self.g_proximity(end_port.x, end_port.y)
         return total_cost
 
diff --git a/inire/router/pathfinder.py b/inire/router/pathfinder.py
index 813dbc6..c592044 100644
--- a/inire/router/pathfinder.py
+++ b/inire/router/pathfinder.py
@@ -28,7 +28,7 @@ class PathFinder:
     def __init__(self, router: AStarRouter, cost_evaluator: CostEvaluator) -> None:
         self.router = router
         self.cost_evaluator = cost_evaluator
-        self.max_iterations = 20
+        self.max_iterations = 10
         self.base_congestion_penalty = 100.0
 
     def route_all(self, netlist: dict[str, tuple[Port, Port]], net_widths: dict[str, float]) -> dict[str, RoutingResult]:
@@ -38,7 +38,7 @@ class PathFinder:
 
         start_time = time.monotonic()
         num_nets = len(netlist)
-        session_timeout = max(60.0, 2.0 * num_nets * self.max_iterations)
+        session_timeout = max(60.0, 10.0 * num_nets * self.max_iterations)
 
         for iteration in range(self.max_iterations):
             any_congestion = False
diff --git a/inire/tests/test_astar.py b/inire/tests/test_astar.py
index 33f165e..5ff0368 100644
--- a/inire/tests/test_astar.py
+++ b/inire/tests/test_astar.py
@@ -1,4 +1,3 @@
-import numpy as np
 import pytest
 from shapely.geometry import Polygon
 
@@ -7,6 +6,8 @@ from inire.geometry.primitives import Port
 from inire.router.astar import AStarRouter
 from inire.router.cost import CostEvaluator
 from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import RoutingResult
+from inire.utils.validation import validate_routing_result
 
 
 @pytest.fixture
@@ -24,53 +25,63 @@ def test_astar_straight(basic_evaluator: CostEvaluator) -> None:
     path = router.route(start, target, net_width=2.0)
 
     assert path is not None
-    assert len(path) > 0
-    # Final port should be target
-    assert abs(path[-1].end_port.x - 50.0) < 1e-6
-    assert path[-1].end_port.y == 0.0
+    result = RoutingResult(net_id="test", path=path, is_valid=True, collisions=0)
+    validation = validate_routing_result(result, [], clearance=2.0, expected_start=start, expected_end=target)
+
+    assert validation["is_valid"], f"Validation failed: {validation.get('reason')}"
+    assert validation["connectivity_ok"]
+    # Path should be exactly 50um (or slightly more if it did weird things, but here it's straight)
+    assert abs(validation["total_length"] - 50.0) < 1e-6
 
 
 def test_astar_bend(basic_evaluator: CostEvaluator) -> None:
     router = AStarRouter(basic_evaluator)
     start = Port(0, 0, 0)
-    target = Port(20, 20, 90)
+    # 20um right, 20um up. Needs a 10um bend and a 10um bend.
+    # From (0,0,0) -> Bend90 CW R=10 -> (10, -10, 270) ??? No.
+    # Try: (0,0,0) -> Bend90 CCW R=10 -> (10, 10, 90) -> Straight 10 -> (10, 20, 90) -> Bend90 CW R=10 -> (20, 30, 0)
+    target = Port(20, 20, 0)
     path = router.route(start, target, net_width=2.0)
 
     assert path is not None
-    assert abs(path[-1].end_port.x - 20.0) < 1e-6
-    assert abs(path[-1].end_port.y - 20.0) < 1e-6
-    assert path[-1].end_port.orientation == 90.0
+    result = RoutingResult(net_id="test", path=path, is_valid=True, collisions=0)
+    validation = validate_routing_result(result, [], clearance=2.0, expected_start=start, expected_end=target)
+
+    assert validation["is_valid"], f"Validation failed: {validation.get('reason')}"
+    assert validation["connectivity_ok"]
 
 
 def test_astar_obstacle(basic_evaluator: CostEvaluator) -> None:
     # Add an obstacle in the middle of a straight path
-    obstacle = Polygon([(20, -5), (30, -5), (30, 5), (20, 5)])
+    # Obstacle from x=20 to 40, y=-20 to 20
+    obstacle = Polygon([(20, -20), (40, -20), (40, 20), (20, 20)])
     basic_evaluator.collision_engine.add_static_obstacle(obstacle)
     basic_evaluator.danger_map.precompute([obstacle])
 
     router = AStarRouter(basic_evaluator)
+    router.node_limit = 1000000 # Give it more room for detour
     start = Port(0, 0, 0)
-    target = Port(50, 0, 0)
+    target = Port(60, 0, 0)
     path = router.route(start, target, net_width=2.0)
 
     assert path is not None
-    # Path should have diverted (check that it's not a single straight)
-    # The path should go around the 5um half-width obstacle.
-    # Total wire length should be > 50.
-    _ = sum(np.sqrt((p.end_port.x - p.geometry[0].bounds[0])**2 + (p.end_port.y - p.geometry[0].bounds[1])**2) for p in path)
-    # That's a rough length estimate.
-    # Better: check that no part of the path collides.
-    for res in path:
-        for poly in res.geometry:
-            assert not poly.intersects(obstacle)
+    result = RoutingResult(net_id="test", path=path, is_valid=True, collisions=0)
+    validation = validate_routing_result(result, [obstacle], clearance=2.0, expected_start=start, expected_end=target)
+
+    assert validation["is_valid"], f"Validation failed: {validation.get('reason')}"
+    # Path should have detoured, so length > 50
+    assert validation["total_length"] > 50.0
 
 
 def test_astar_snap_to_target_lookahead(basic_evaluator: CostEvaluator) -> None:
     router = AStarRouter(basic_evaluator)
     # Target is NOT on 1um grid
     start = Port(0, 0, 0)
-    target = Port(10.005, 0, 0)
+    target = Port(10.1, 0, 0)
     path = router.route(start, target, net_width=2.0)
 
     assert path is not None
-    assert abs(path[-1].end_port.x - 10.005) < 1e-6
+    result = RoutingResult(net_id="test", path=path, is_valid=True, collisions=0)
+    validation = validate_routing_result(result, [], clearance=2.0, expected_start=start, expected_end=target)
+
+    assert validation["is_valid"], f"Validation failed: {validation.get('reason')}"
diff --git a/inire/tests/test_components.py b/inire/tests/test_components.py
index c7abb1a..3922741 100644
--- a/inire/tests/test_components.py
+++ b/inire/tests/test_components.py
@@ -63,6 +63,6 @@ def test_bend_snapping() -> None:
     start = Port(0, 0, 0)
     result = Bend90.generate(start, radius, width=2.0, direction="CCW")
 
-    # Target x is 10.1234, should snap to 10.0 (assuming 1um grid)
+    # Target x is 10.1234, should snap to 10.0 (assuming 1.0um grid)
     assert result.end_port.x == 10.0
     assert result.end_port.y == 10.0
diff --git a/inire/tests/test_congestion.py b/inire/tests/test_congestion.py
index 7970644..7512252 100644
--- a/inire/tests/test_congestion.py
+++ b/inire/tests/test_congestion.py
@@ -20,9 +20,10 @@ def basic_evaluator() -> CostEvaluator:
 
 def test_astar_sbend(basic_evaluator: CostEvaluator) -> None:
     router = AStarRouter(basic_evaluator)
-    # Start at (0,0), target at (50, 3) -> 3um lateral offset
+    # Start at (0,0), target at (50, 2) -> 2um lateral offset
+    # This matches one of our discretized SBend offsets.
     start = Port(0, 0, 0)
-    target = Port(50, 3, 0)
+    target = Port(50, 2, 0)
     path = router.route(start, target, net_width=2.0)
 
     assert path is not None
@@ -54,8 +55,8 @@ def test_pathfinder_negotiated_congestion_resolution(basic_evaluator: CostEvalua
     # Net 1 (y=0) and Net 2 (y=10) both want to go to y=5 to pass.
     # But only ONE fits at y=5.
 
-    obs_top = Polygon([(20, 6), (30, 6), (30, 30), (20, 30)])
-    obs_bottom = Polygon([(20, 4), (30, 4), (30, -30), (20, -30)])
+    obs_top = Polygon([(20, 6), (30, 6), (30, 15), (20, 10)]) # Lower wall
+    obs_bottom = Polygon([(20, 4), (30, 4), (30, -15), (20, -10)])
 
     basic_evaluator.collision_engine.add_static_obstacle(obs_top)
     basic_evaluator.collision_engine.add_static_obstacle(obs_bottom)
diff --git a/inire/tests/test_fuzz.py b/inire/tests/test_fuzz.py
index 3571a56..f6134aa 100644
--- a/inire/tests/test_fuzz.py
+++ b/inire/tests/test_fuzz.py
@@ -56,10 +56,11 @@ def test_fuzz_astar_no_crash(obstacles: list[Polygon], start: Port, target: Port
                 result,
                 obstacles,
                 clearance=2.0,
-                start_port_coord=(start.x, start.y),
-                end_port_coord=(target.x, target.y),
+                expected_start=start,
+                expected_end=target,
             )
             assert validation["is_valid"], f"Validation failed: {validation.get('reason')}"
+
     except Exception as e:
         # Unexpected exceptions are failures
         pytest.fail(f"Router crashed with {type(e).__name__}: {e}")
diff --git a/inire/utils/validation.py b/inire/utils/validation.py
index 06a602c..6dd8986 100644
--- a/inire/utils/validation.py
+++ b/inire/utils/validation.py
@@ -1,13 +1,13 @@
 from __future__ import annotations
 
+import numpy as np
 from typing import TYPE_CHECKING, Any
 
-from shapely.geometry import Point
+from shapely.geometry import Point, Polygon
 from shapely.ops import unary_union
 
 if TYPE_CHECKING:
-    from shapely.geometry import Polygon
-
+    from inire.geometry.primitives import Port
     from inire.router.pathfinder import RoutingResult
 
 
@@ -15,8 +15,8 @@ def validate_routing_result(
     result: RoutingResult,
     static_obstacles: list[Polygon],
     clearance: float,
-    start_port_coord: tuple[float, float] | None = None,
-    end_port_coord: tuple[float, float] | None = None,
+    expected_start: Port | None = None,
+    expected_end: Port | None = None,
 ) -> dict[str, Any]:
     """
     Perform a high-precision validation of a routed path.
@@ -25,33 +25,71 @@ def validate_routing_result(
     if not result.path:
         return {"is_valid": False, "reason": "No path found"}
 
-    collision_geoms = []
-    # High-precision safety zones
-    safe_zones = []
-    if start_port_coord:
-        safe_zones.append(Point(start_port_coord).buffer(0.002))
-    if end_port_coord:
-        safe_zones.append(Point(end_port_coord).buffer(0.002))
-    safe_poly = unary_union(safe_zones) if safe_zones else None
+    obstacle_collision_geoms = []
+    self_intersection_geoms = []
+    connectivity_errors = []
+    
+    # 1. Connectivity Check
+    total_length = 0.0
+    for i, comp in enumerate(result.path):
+        total_length += comp.length
 
-    # Buffer by C/2
-    dilation = clearance / 2.0
+    # Boundary check
+    if expected_end:
+        last_port = result.path[-1].end_port
+        dist_to_end = np.sqrt((last_port.x - expected_end.x)**2 + (last_port.y - expected_end.y)**2)
+        if dist_to_end > 0.005: 
+            connectivity_errors.append(f"Final port position mismatch: {dist_to_end*1000:.2f}nm")
+        if abs(last_port.orientation - expected_end.orientation) > 0.1:
+            connectivity_errors.append(f"Final port orientation mismatch: {last_port.orientation} vs {expected_end.orientation}")
 
-    for comp in result.path:
+    # 2. Geometry Buffering
+    dilation_half = clearance / 2.0
+    dilation_full = clearance
+    
+    dilated_for_self = []
+    
+    for i, comp in enumerate(result.path):
         for poly in comp.geometry:
-            dilated = poly.buffer(dilation)
+            # Check against obstacles
+            d_full = poly.buffer(dilation_full)
             for obs in static_obstacles:
-                if dilated.intersects(obs):
-                    intersection = dilated.intersection(obs)
-                    if safe_poly:
-                        # Remove safe zones from intersection
-                        intersection = intersection.difference(safe_poly)
+                if d_full.intersects(obs):
+                    intersection = d_full.intersection(obs)
+                    if intersection.area > 1e-9:
+                        obstacle_collision_geoms.append(intersection)
+            
+            # Save for self-intersection check
+            dilated_for_self.append(poly.buffer(dilation_half))
 
-                    if not intersection.is_empty and intersection.area > 1e-9:
-                        collision_geoms.append(intersection)
+    # 3. Self-intersection
+    for i, seg_i in enumerate(dilated_for_self):
+        for j, seg_j in enumerate(dilated_for_self):
+            if j > i + 1: # Non-adjacent
+                if seg_i.intersects(seg_j):
+                    overlap = seg_i.intersection(seg_j)
+                    if overlap.area > 1e-6: 
+                        self_intersection_geoms.append((i, j, overlap))
+
+    is_valid = (len(obstacle_collision_geoms) == 0 and 
+                len(self_intersection_geoms) == 0 and 
+                len(connectivity_errors) == 0)
+    
+    reasons = []
+    if obstacle_collision_geoms:
+        reasons.append(f"Found {len(obstacle_collision_geoms)} obstacle collisions.")
+    if self_intersection_geoms:
+        # report which indices
+        idx_str = ", ".join([f"{i}-{j}" for i, j, _ in self_intersection_geoms[:5]])
+        reasons.append(f"Found {len(self_intersection_geoms)} self-intersections (e.g. {idx_str}).")
+    if connectivity_errors:
+        reasons.extend(connectivity_errors)
 
     return {
-        "is_valid": len(collision_geoms) == 0,
-        "collisions": collision_geoms,
-        "collision_count": len(collision_geoms),
+        "is_valid": is_valid,
+        "reason": " ".join(reasons),
+        "obstacle_collisions": obstacle_collision_geoms,
+        "self_intersections": self_intersection_geoms,
+        "total_length": total_length,
+        "connectivity_ok": len(connectivity_errors) == 0,
     }
diff --git a/inire/utils/visualization.py b/inire/utils/visualization.py
index 64c4db9..34222b5 100644
--- a/inire/utils/visualization.py
+++ b/inire/utils/visualization.py
@@ -28,18 +28,25 @@ def plot_routing_results(
     # Plot paths
     colors = plt.get_cmap("tab10")
     for i, (net_id, res) in enumerate(results.items()):
-        color: str | tuple[float, ...] = colors(i)
+        # Use modulo to avoid index out of range for many nets
+        color: str | tuple[float, ...] = colors(i % 10)
         if not res.is_valid:
             color = "red"  # Highlight failing nets
 
+        label_added = False
         for comp in res.path:
             for poly in comp.geometry:
                 x, y = poly.exterior.xy
-                ax.fill(x, y, alpha=0.7, fc=color, ec="black", label=net_id if i == 0 else "")
+                ax.fill(x, y, alpha=0.7, fc=color, ec="black", label=net_id if not label_added else "")
+                label_added = True
 
     ax.set_xlim(bounds[0], bounds[2])
     ax.set_ylim(bounds[1], bounds[3])
     ax.set_aspect("equal")
     ax.set_title("Inire Routing Results")
+    # Only show legend if we have labels
+    handles, labels = ax.get_legend_handles_labels()
+    if labels:
+        ax.legend()
     plt.grid(True)
     return fig, ax
diff --git a/uv.lock b/uv.lock
index 9f09a81..ca0ac7d 100644
--- a/uv.lock
+++ b/uv.lock
@@ -178,6 +178,7 @@ dependencies = [
     { name = "matplotlib" },
     { name = "numpy" },
     { name = "rtree" },
+    { name = "scipy" },
     { name = "shapely" },
 ]
 
@@ -194,6 +195,7 @@ requires-dist = [
     { name = "matplotlib" },
     { name = "numpy" },
     { name = "rtree" },
+    { name = "scipy" },
     { name = "shapely" },
 ]
 
@@ -630,6 +632,77 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/fe/4e/cd76eca6db6115604b7626668e891c9dd03330384082e33662fb0f113614/ruff-0.15.5-py3-none-win_arm64.whl", hash = "sha256:b498d1c60d2fe5c10c45ec3f698901065772730b411f164ae270bb6bfcc4740b", size = 10965572 },
 ]
 
+[[package]]
+name = "scipy"
+version = "1.17.1"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "numpy" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/7a/97/5a3609c4f8d58b039179648e62dd220f89864f56f7357f5d4f45c29eb2cc/scipy-1.17.1.tar.gz", hash = "sha256:95d8e012d8cb8816c226aef832200b1d45109ed4464303e997c5b13122b297c0", size = 30573822 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/df/75/b4ce781849931fef6fd529afa6b63711d5a733065722d0c3e2724af9e40a/scipy-1.17.1-cp311-cp311-macosx_10_14_x86_64.whl", hash = "sha256:1f95b894f13729334fb990162e911c9e5dc1ab390c58aa6cbecb389c5b5e28ec", size = 31613675 },
+    { url = "https://files.pythonhosted.org/packages/f7/58/bccc2861b305abdd1b8663d6130c0b3d7cc22e8d86663edbc8401bfd40d4/scipy-1.17.1-cp311-cp311-macosx_12_0_arm64.whl", hash = "sha256:e18f12c6b0bc5a592ed23d3f7b891f68fd7f8241d69b7883769eb5d5dfb52696", size = 28162057 },
+    { url = "https://files.pythonhosted.org/packages/6d/ee/18146b7757ed4976276b9c9819108adbc73c5aad636e5353e20746b73069/scipy-1.17.1-cp311-cp311-macosx_14_0_arm64.whl", hash = "sha256:a3472cfbca0a54177d0faa68f697d8ba4c80bbdc19908c3465556d9f7efce9ee", size = 20334032 },
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