A non-transitory computer-readable medium includes computer-executable instructions that cause one or more processing units to acquire an airport map that includes a plurality of edge data structures. Each of the edge data structures includes a plurality of waypoints and membership data that indicates a location at an airport. The instructions further cause the one or more processing units to receive a starting location and a starting heading of an aircraft at the airport, determine a destination location and a destination heading for the aircraft at the airport, and generate a taxiing path plan for the aircraft based on the airport map, the starting location, the starting heading, the destination location, and the destination heading. The taxiing path plan includes a sequence of waypoints from the edge data structures. The instructions further cause the one or more processing units to send the taxiing path plan to the aircraft.