diff --git a/.github/copilot-instructions.md b/.github/copilot-instructions.md
index 13bf53ed..70196a8f 100644
--- a/.github/copilot-instructions.md
+++ b/.github/copilot-instructions.md
@@ -77,6 +77,19 @@
  # Run checks
  cargo deny check
  ```
+
+ **8. Test with Minimal Versions:**
+ ```bash
+ # Set dependencies to their minimum allowed versions (requires nightly)
+ cargo +nightly update -Zminimal-versions
+
+ # Run tests with stable compiler under minimal versions
+ cargo +stable test --tests --benches
+
+ # Restore normal (latest) versions afterwards
+ cargo update
+ ```
+ This catches cases where minimum version bounds in Cargo.toml are set too low.
  ### Release Build
  ```bash
  cargo build --release
@@ -163,8 +176,6 @@
  2. **pre-commit.yaml** (Runs on PRs and merge groups):
     - Runs pre-commit hooks (trailing whitespace, TOML/YAML validation, codespell, conventional commits)
 
- 3. **codspeed.yml** (Runs on main branch pushes and PRs):
-    - Runs performance benchmarks
 
  ## MSRV (Minimum Supported Rust Version)
 
@@ -187,10 +198,11 @@
  2. **ALWAYS run formatting:** `cargo +stable fmt --all -- --check` (auto-fix with `cargo +stable fmt --all`)
  3. **ALWAYS run clippy with nightly:** `cargo +nightly clippy --all-targets -- -D warnings`
  4. **Check MSRV consistency:** `sh tests/check-msrv-consistency.sh` if you modify Cargo.toml or src/lib.rs
- 5. **Remove trailing spaces:** All files must have trailing whitespace removed (pre-commit checks enforce this)
- 6. **Unix line terminators:** Unix regular \n terminators must be used
- 7. **DO NOT modify CHANGELOG.md:** The changelog is updated automatically during the release process and should not be modified in pull requests
- 8. When you add new tests while fixing a bug, ensure that those tests fail with the current code version and pass with your proposed changes.
+ 5. **ALWAYS test with minimal versions** when modifying `Cargo.toml` dependencies: `cargo +nightly update -Zminimal-versions && cargo +stable test --tests --benches` (restore with `cargo update`)
+ 6. **Remove trailing spaces:** All files must have trailing whitespace removed (pre-commit checks enforce this)
+ 7. **Unix line terminators:** Unix regular \n terminators must be used
+ 8. **DO NOT modify CHANGELOG.md:** The changelog is updated automatically during the release process and should not be modified in pull requests
+ 9. When you add new tests while fixing a bug, ensure that those tests fail with the current code version and pass with your proposed changes.
 
  ### Commit Message Format
  This repository uses **conventional commits**. Every commit message must follow this format:
@@ -211,7 +223,8 @@
  4. **Tests must pass in both debug and release modes** on multiple toolchains (stable, beta, nightly, MSRV).
  5. **Documentation tests are separate** from regular tests. Always run both `cargo test --tests` and `cargo test --doc`.
  6. **Benchmarks are tests too**. Use `--benches` flag when running tests to include benchmark tests.
- 7. **DO NOT modify CHANGELOG.md** in pull requests. The changelog is updated automatically by the release script (`release.sh`) which generates it from git commit messages.
+ 7. **Minimal versions must compile**. When changing dependencies in Cargo.toml, always verify with `cargo +nightly update -Zminimal-versions && cargo +stable test --tests --benches`. Some transitive dependencies require a minimum floor entry in `[dev-dependencies]` (e.g. `regex`) to prevent `-Zminimal-versions` from selecting versions too old to compile with current Rust.
+ 8. **DO NOT modify CHANGELOG.md** in pull requests. The changelog is updated automatically by the release script (`release.sh`) which generates it from git commit messages.
 
  ## Development Workflow
 
diff --git a/.github/workflows/codspeed.yml b/.github/workflows/codspeed.yml
deleted file mode 100644
index 4b412910..00000000
--- a/.github/workflows/codspeed.yml
+++ /dev/null
@@ -1,45 +0,0 @@
-name: CodSpeed Benchmarks
-
-on:
-  push:
-    branches:
-      - main
-  pull_request:
-
-jobs:
-  benchmarks:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v6
-        name: Checkout
-      - uses: actions/cache@v5
-        with:
-          path: |
-            ~/.cargo/registry
-            ~/.cargo/git
-            target
-          key: ${{ runner.os }}-cargo-stable-${{ hashFiles('Cargo.toml') }}
-
-      - uses: actions-rs/toolchain@v1
-        name: Install Rust toolchain
-        with:
-          profile: minimal
-          toolchain: stable
-          override: true
-
-      - uses: baptiste0928/cargo-install@v3
-        name: Install cargo-codspeed (with cache)
-        with:
-          crate: cargo-codspeed
-
-      - uses: actions-rs/cargo@v1
-        name: Build benchmarks
-        with:
-          command: codspeed
-          args: build
-
-      - uses: CodSpeedHQ/action@v4
-        name: Run benchmarks
-        with:
-          run: cargo codspeed run
-          mode: instrumentation
diff --git a/Cargo.lock b/Cargo.lock
index 3ba2cb27..07c76979 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -4,9 +4,9 @@ version = 4
 
 [[package]]
 name = "aho-corasick"
-version = "1.1.3"
+version = "1.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e60d3430d3a69478ad0993f19238d2df97c507009a52b3c10addcd7f6bcb916"
+checksum = "ddd31a130427c27518df266943a5308ed92d4b226cc639f5a8f1002816174301"
 dependencies = [
  "memchr",
 ]
@@ -23,21 +23,6 @@ version = "1.0.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5192cca8006f1fd4f7237516f40fa183bb07f8fbdfedaa0036de5ea9b0b45e78"
 
-[[package]]
-name = "anyhow"
-version = "1.0.100"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a23eb6b1614318a8071c9b2521f36b424b2c83db5eb3a0fead4a6c0809af6e61"
-
-[[package]]
-name = "approx"
-version = "0.5.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
-dependencies = [
- "num-traits",
-]
-
 [[package]]
 name = "autocfg"
 version = "1.5.0"
@@ -53,17 +38,11 @@ dependencies = [
  "serde",
 ]
 
-[[package]]
-name = "bitflags"
-version = "2.10.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "812e12b5285cc515a9c72a5c1d3b6d46a19dac5acfef5265968c166106e31dd3"
-
 [[package]]
 name = "bumpalo"
-version = "3.19.0"
+version = "3.20.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "46c5e41b57b8bba42a04676d81cb89e9ee8e859a1a66f80a5a72e1cb76b34d43"
+checksum = "5d20789868f4b01b2f2caec9f5c4e0213b41e3e5702a50157d699ae31ced2fcb"
 
 [[package]]
 name = "cast"
@@ -71,27 +50,11 @@ version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "37b2a672a2cb129a2e41c10b1224bb368f9f37a2b16b612598138befd7b37eb5"
 
-[[package]]
-name = "cc"
-version = "1.2.41"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ac9fe6cdbb24b6ade63616c0a0688e45bb56732262c158df3c0c4bea4ca47cb7"
-dependencies = [
- "find-msvc-tools",
- "shlex",
-]
-
 [[package]]
 name = "cfg-if"
-version = "1.0.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2fd1289c04a9ea8cb22300a459a72a385d7c73d3259e2ed7dcb2af674838cfa9"
-
-[[package]]
-name = "cfg_aliases"
-version = "0.2.1"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "613afe47fcd5fac7ccf1db93babcb082c5994d996f20b8b159f2ad1658eb5724"
+checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
 
 [[package]]
 name = "ciborium"
@@ -122,18 +85,18 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.5.48"
+version = "4.5.60"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2134bb3ea021b78629caa971416385309e0131b351b25e01dc16fb54e1b5fae"
+checksum = "2797f34da339ce31042b27d23607e051786132987f595b02ba4f6a6dffb7030a"
 dependencies = [
  "clap_builder",
 ]
 
 [[package]]
 name = "clap_builder"
-version = "4.5.48"
+version = "4.5.60"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2ba64afa3c0a6df7fa517765e31314e983f51dda798ffba27b988194fb65dc9"
+checksum = "24a241312cea5059b13574bb9b3861cabf758b879c15190b37b6d6fd63ab6876"
 dependencies = [
  "anstyle",
  "clap_lex",
@@ -141,52 +104,20 @@ dependencies = [
 
 [[package]]
 name = "clap_lex"
-version = "0.7.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b94f61472cee1439c0b966b47e3aca9ae07e45d070759512cd390ea2bebc6675"
-
-[[package]]
-name = "codspeed"
-version = "4.3.0"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38c2eb3388ebe26b5a0ab6bf4969d9c4840143d7f6df07caa3cc851b0606cef6"
-dependencies = [
- "anyhow",
- "cc",
- "colored",
- "getrandom 0.2.16",
- "glob",
- "libc",
- "nix",
- "serde",
- "serde_json",
- "statrs",
-]
+checksum = "3a822ea5bc7590f9d40f1ba12c0dc3c2760f3482c6984db1573ad11031420831"
 
 [[package]]
-name = "codspeed-criterion-compat"
-version = "4.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e1e270597a1d1e183f86d1cc9f94f0133654ee3daf201c17903ee29363555dd7"
-dependencies = [
- "clap",
- "codspeed",
- "codspeed-criterion-compat-walltime",
- "colored",
- "regex",
-]
-
-[[package]]
-name = "codspeed-criterion-compat-walltime"
-version = "4.3.0"
+name = "criterion"
+version = "0.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e6c2613d2fac930fe34456be76f9124ee0800bb9db2e7fd2d6c65b9ebe98a292"
+checksum = "f2b12d017a929603d80db1831cd3a24082f8137ce19c69e6447f54f5fc8d692f"
 dependencies = [
  "anes",
  "cast",
  "ciborium",
  "clap",
- "codspeed",
  "criterion-plot",
  "is-terminal",
  "itertools 0.10.5",
@@ -203,16 +134,6 @@ dependencies = [
  "walkdir",
 ]
 
-[[package]]
-name = "colored"
-version = "2.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "117725a109d387c937a1533ce01b450cbde6b88abceea8473c4d7a85853cda3c"
-dependencies = [
- "lazy_static",
- "windows-sys",
-]
-
 [[package]]
 name = "criterion-plot"
 version = "0.5.0"
@@ -299,33 +220,16 @@ version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f"
 
-[[package]]
-name = "find-msvc-tools"
-version = "0.1.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "52051878f80a721bb68ebfbc930e07b65ba72f2da88968ea5c06fd6ca3d3a127"
-
 [[package]]
 name = "getrandom"
-version = "0.2.16"
+version = "0.3.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "335ff9f135e4384c8150d6f27c6daed433577f86b4750418338c01a1a2528592"
-dependencies = [
- "cfg-if",
- "libc",
- "wasi 0.11.1+wasi-snapshot-preview1",
-]
-
-[[package]]
-name = "getrandom"
-version = "0.3.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26145e563e54f2cadc477553f1ec5ee650b00862f0a58bcd12cbdc5f0ea2d2f4"
+checksum = "899def5c37c4fd7b2664648c28120ecec138e4d395b459e5ca34f9cce2dd77fd"
 dependencies = [
  "cfg-if",
  "libc",
  "r-efi",
- "wasi 0.14.7+wasi-0.2.4",
+ "wasip2",
 ]
 
 [[package]]
@@ -414,9 +318,9 @@ dependencies = [
 
 [[package]]
 name = "is-terminal"
-version = "0.4.16"
+version = "0.4.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e04d7f318608d35d4b61ddd75cbdaee86b023ebe2bd5a66ee0915f0bf93095a9"
+checksum = "3640c1c38b8e4e43584d8df18be5fc6b0aa314ce6ebf51b53313d4306cca8e46"
 dependencies = [
  "hermit-abi",
  "libc",
@@ -443,43 +347,31 @@ dependencies = [
 
 [[package]]
 name = "itoa"
-version = "1.0.15"
+version = "1.0.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4a5f13b858c8d314ee3e8f639011f7ccefe71f97f96e50151fb991f267928e2c"
+checksum = "92ecc6618181def0457392ccd0ee51198e065e016d1d527a7ac1b6dc7c1f09d2"
 
 [[package]]
 name = "js-sys"
-version = "0.3.81"
+version = "0.3.91"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ec48937a97411dcb524a265206ccd4c90bb711fca92b2792c407f268825b9305"
+checksum = "b49715b7073f385ba4bc528e5747d02e66cb39c6146efb66b781f131f0fb399c"
 dependencies = [
  "once_cell",
  "wasm-bindgen",
 ]
 
-[[package]]
-name = "lazy_static"
-version = "1.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
-
 [[package]]
 name = "libc"
-version = "0.2.176"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "58f929b4d672ea937a23a1ab494143d968337a5f47e56d0815df1e0890ddf174"
-
-[[package]]
-name = "log"
-version = "0.4.28"
+version = "0.2.183"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "34080505efa8e45a4b816c349525ebe327ceaa8559756f0356cba97ef3bf7432"
+checksum = "b5b646652bf6661599e1da8901b3b9522896f01e736bad5f723fe7a3a27f899d"
 
 [[package]]
 name = "memchr"
-version = "2.7.6"
+version = "2.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f52b00d39961fc5b2736ea853c9cc86238e165017a493d1d5c8eac6bdc4cc273"
+checksum = "f8ca58f447f06ed17d5fc4043ce1b10dd205e060fb3ce5b979b8ed8e59ff3f79"
 
 [[package]]
 name = "movingai"
@@ -487,18 +379,6 @@ version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "459d879e386cfade4761316eb54c57171bf7128143e696209ea5cfa72d7877ce"
 
-[[package]]
-name = "nix"
-version = "0.30.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74523f3a35e05aba87a1d978330aef40f67b0304ac79c1c00b294c9830543db6"
-dependencies = [
- "bitflags",
- "cfg-if",
- "cfg_aliases",
- "libc",
-]
-
 [[package]]
 name = "noisy_float"
 version = "0.2.1"
@@ -533,7 +413,7 @@ checksum = "d6790f58c7ff633d8771f42965289203411a5e5c68388703c06e14f24770b41e"
 name = "pathfinding"
 version = "4.14.0"
 dependencies = [
- "codspeed-criterion-compat",
+ "criterion",
  "deprecate-until",
  "iai-callgrind",
  "indexmap",
@@ -612,18 +492,18 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.101"
+version = "1.0.106"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "89ae43fd86e4158d6db51ad8e2b80f313af9cc74f5c0e03ccb87de09998732de"
+checksum = "8fd00f0bb2e90d81d1044c2b32617f68fcb9fa3bb7640c23e9c748e53fb30934"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.41"
+version = "1.0.45"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ce25767e7b499d1b604768e7cde645d14cc8584231ea6b295e9c9eb22c02e1d1"
+checksum = "41f2619966050689382d2b44f664f4bc593e129785a36d6ee376ddf37259b924"
 dependencies = [
  "proc-macro2",
 ]
@@ -656,11 +536,11 @@ dependencies = [
 
 [[package]]
 name = "rand_core"
-version = "0.9.3"
+version = "0.9.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "99d9a13982dcf210057a8a78572b2217b667c3beacbf3a0d8b454f6f82837d38"
+checksum = "76afc826de14238e6e8c374ddcc1fa19e374fd8dd986b0d2af0d02377261d83c"
 dependencies = [
- "getrandom 0.3.3",
+ "getrandom",
 ]
 
 [[package]]
@@ -706,9 +586,9 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.4.12"
+version = "0.4.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "722166aa0d7438abbaa4d5cc2c649dac844e8c56d82fb3d33e9c34b5cd268fc6"
+checksum = "6e1dd4122fc1595e8162618945476892eefca7b88c52820e74af6262213cae8f"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -717,9 +597,9 @@ dependencies = [
 
 [[package]]
 name = "regex-syntax"
-version = "0.8.6"
+version = "0.8.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "caf4aa5b0f434c91fe5c7f1ecb6a5ece2130b02ad2a590589dda5146df959001"
+checksum = "dc897dd8d9e8bd1ed8cdad82b5966c3e0ecae09fb1907d58efaa013543185d0a"
 
 [[package]]
 name = "rustc-hash"
@@ -742,12 +622,6 @@ version = "1.0.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b39cdef0fa800fc44525c84ccb54a029961a8215f9619753635a9c0d2538d46d"
 
-[[package]]
-name = "ryu"
-version = "1.0.20"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "28d3b2b1366ec20994f1fd18c3c594f05c5dd4bc44d8bb0c1c632c8d6829481f"
-
 [[package]]
 name = "same-file"
 version = "1.0.6"
@@ -795,15 +669,15 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.145"
+version = "1.0.149"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "402a6f66d8c709116cf22f558eab210f5a50187f702eb4d7e5ef38d9a7f1c79c"
+checksum = "83fc039473c5595ace860d8c4fafa220ff474b3fc6bfdb4293327f1a37e94d86"
 dependencies = [
  "itoa",
  "memchr",
- "ryu",
  "serde",
  "serde_core",
+ "zmij",
 ]
 
 [[package]]
@@ -815,27 +689,11 @@ dependencies = [
  "serde_core",
 ]
 
-[[package]]
-name = "shlex"
-version = "1.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
-
-[[package]]
-name = "statrs"
-version = "0.18.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2a3fe7c28c6512e766b0874335db33c94ad7b8f9054228ae1c2abd47ce7d335e"
-dependencies = [
- "approx",
- "num-traits",
-]
-
 [[package]]
 name = "syn"
-version = "2.0.106"
+version = "2.0.117"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ede7c438028d4436d71104916910f5bb611972c5cfd7f89b8300a8186e6fada6"
+checksum = "e665b8803e7b1d2a727f4023456bbbbe74da67099c585258af0ad9c5013b9b99"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -889,9 +747,9 @@ dependencies = [
 
 [[package]]
 name = "toml"
-version = "1.0.0+spec-1.1.0"
+version = "1.0.6+spec-1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d1d7e18e3dd1d31e0ee5e863a8091ffec2fcc271636586042452b656a22c8ee1"
+checksum = "399b1124a3c9e16766831c6bba21e50192572cdd98706ea114f9502509686ffc"
 dependencies = [
  "indexmap",
  "serde_core",
@@ -913,9 +771,9 @@ dependencies = [
 
 [[package]]
 name = "toml_parser"
-version = "1.0.7+spec-1.1.0"
+version = "1.0.9+spec-1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "247eaa3197818b831697600aadf81514e577e0cba5eab10f7e064e78ae154df1"
+checksum = "702d4415e08923e7e1ef96cd5727c0dfed80b4d2fa25db9647fe5eb6f7c5a4c4"
 dependencies = [
  "winnow",
 ]
@@ -943,9 +801,9 @@ dependencies = [
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.19"
+version = "1.0.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f63a545481291138910575129486daeaf8ac54aee4387fe7906919f7830c7d9d"
+checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
 
 [[package]]
 name = "version_check"
@@ -963,35 +821,20 @@ dependencies = [
  "winapi-util",
 ]
 
-[[package]]
-name = "wasi"
-version = "0.11.1+wasi-snapshot-preview1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ccf3ec651a847eb01de73ccad15eb7d99f80485de043efb2f370cd654f4ea44b"
-
-[[package]]
-name = "wasi"
-version = "0.14.7+wasi-0.2.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "883478de20367e224c0090af9cf5f9fa85bed63a95c1abf3afc5c083ebc06e8c"
-dependencies = [
- "wasip2",
-]
-
 [[package]]
 name = "wasip2"
-version = "1.0.1+wasi-0.2.4"
+version = "1.0.2+wasi-0.2.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0562428422c63773dad2c345a1882263bbf4d65cf3f42e90921f787ef5ad58e7"
+checksum = "9517f9239f02c069db75e65f174b3da828fe5f5b945c4dd26bd25d89c03ebcf5"
 dependencies = [
  "wit-bindgen",
 ]
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.104"
+version = "0.2.114"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c1da10c01ae9f1ae40cbfac0bac3b1e724b320abfcf52229f80b547c0d250e2d"
+checksum = "6532f9a5c1ece3798cb1c2cfdba640b9b3ba884f5db45973a6f442510a87d38e"
 dependencies = [
  "cfg-if",
  "once_cell",
@@ -1000,25 +843,11 @@ dependencies = [
  "wasm-bindgen-shared",
 ]
 
-[[package]]
-name = "wasm-bindgen-backend"
-version = "0.2.104"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "671c9a5a66f49d8a47345ab942e2cb93c7d1d0339065d4f8139c486121b43b19"
-dependencies = [
- "bumpalo",
- "log",
- "proc-macro2",
- "quote",
- "syn",
- "wasm-bindgen-shared",
-]
-
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.104"
+version = "0.2.114"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ca60477e4c59f5f2986c50191cd972e3a50d8a95603bc9434501cf156a9a119"
+checksum = "18a2d50fcf105fb33bb15f00e7a77b772945a2ee45dcf454961fd843e74c18e6"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -1026,31 +855,31 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.104"
+version = "0.2.114"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f07d2f20d4da7b26400c9f4a0511e6e0345b040694e8a75bd41d578fa4421d7"
+checksum = "03ce4caeaac547cdf713d280eda22a730824dd11e6b8c3ca9e42247b25c631e3"
 dependencies = [
+ "bumpalo",
  "proc-macro2",
  "quote",
  "syn",
- "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.104"
+version = "0.2.114"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bad67dc8b2a1a6e5448428adec4c3e84c43e561d8c9ee8a9e5aabeb193ec41d1"
+checksum = "75a326b8c223ee17883a4251907455a2431acc2791c98c26279376490c378c16"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "web-sys"
-version = "0.3.81"
+version = "0.3.91"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9367c417a924a74cae129e6a2ae3b47fabb1f8995595ab474029da749a8be120"
+checksum = "854ba17bb104abfb26ba36da9729addc7ce7f06f5c0f90f3c391f8461cca21f9"
 dependencies = [
  "js-sys",
  "wasm-bindgen",
@@ -1066,106 +895,54 @@ dependencies = [
 ]
 
 [[package]]
-name = "windows-sys"
-version = "0.59.0"
+name = "windows-link"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e38bc4d79ed67fd075bcc251a1c39b32a1776bbe92e5bef1f0bf1f8c531853b"
-dependencies = [
- "windows-targets",
-]
+checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
 
 [[package]]
-name = "windows-targets"
-version = "0.52.6"
+name = "windows-sys"
+version = "0.61.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
+checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
 dependencies = [
- "windows_aarch64_gnullvm",
- "windows_aarch64_msvc",
- "windows_i686_gnu",
- "windows_i686_gnullvm",
- "windows_i686_msvc",
- "windows_x86_64_gnu",
- "windows_x86_64_gnullvm",
- "windows_x86_64_msvc",
+ "windows-link",
 ]
 
-[[package]]
-name = "windows_aarch64_gnullvm"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
-
-[[package]]
-name = "windows_aarch64_msvc"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
-
-[[package]]
-name = "windows_i686_gnu"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
-
-[[package]]
-name = "windows_i686_gnullvm"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
-
-[[package]]
-name = "windows_i686_msvc"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
-
-[[package]]
-name = "windows_x86_64_gnu"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
-
-[[package]]
-name = "windows_x86_64_gnullvm"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
-
-[[package]]
-name = "windows_x86_64_msvc"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
-
 [[package]]
 name = "winnow"
-version = "0.7.13"
+version = "0.7.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "21a0236b59786fed61e2a80582dd500fe61f18b5dca67a4a067d0bc9039339cf"
+checksum = "df79d97927682d2fd8adb29682d1140b343be4ac0f08fd68b7765d9c059d3945"
 
 [[package]]
 name = "wit-bindgen"
-version = "0.46.0"
+version = "0.51.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f17a85883d4e6d00e8a97c586de764dabcc06133f7f1d55dce5cdc070ad7fe59"
+checksum = "d7249219f66ced02969388cf2bb044a09756a083d0fab1e566056b04d9fbcaa5"
 
 [[package]]
 name = "zerocopy"
-version = "0.8.27"
+version = "0.8.42"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0894878a5fa3edfd6da3f88c4805f4c8558e2b996227a3d864f47fe11e38282c"
+checksum = "f2578b716f8a7a858b7f02d5bd870c14bf4ddbbcf3a4c05414ba6503640505e3"
 dependencies = [
  "zerocopy-derive",
 ]
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.8.27"
+version = "0.8.42"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "88d2b8d9c68ad2b9e4340d7832716a4d21a22a1154777ad56ea55c51a9cf3831"
+checksum = "7e6cc098ea4d3bd6246687de65af3f920c430e236bee1e3bf2e441463f08a02f"
 dependencies = [
  "proc-macro2",
  "quote",
  "syn",
 ]
+
+[[package]]
+name = "zmij"
+version = "1.0.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b8848ee67ecc8aedbaf3e4122217aff892639231befc6a1b58d29fff4c2cabaa"
diff --git a/Cargo.toml b/Cargo.toml
index 5d9e3ee2..7affcdbf 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -45,16 +45,15 @@ thiserror = "2.0.17"
 deprecate-until = "1.0.0"
 
 [dev-dependencies]
-codspeed-criterion-compat = "4.0.0"
+criterion = "0.5"
 iai-callgrind = "0.16.1"
 itertools = "0.14.0"
 movingai = "2.1.0"
 noisy_float = "0.2.0"
 rand = "0.9.2"
 rand_xorshift = "0.4.0"
-# Not a real dependency, but needed since criterion 0.4.0
-# does not compile anymore as of 2022-10-03. This is still
-# needed on 2024-11-24.
+# Not a real dependency, but needed since criterion 0.5 pulls in regex
+# and older versions of regex do not compile with recent Rust.
 regex = "1.11.3"
 trybuild = "1.0.111"
 version_check = "0.9.5"
diff --git a/benches/algos-fill.rs b/benches/algos-fill.rs
index cf7c7a75..399b3030 100644
--- a/benches/algos-fill.rs
+++ b/benches/algos-fill.rs
@@ -1,7 +1,7 @@
 // This version uses a filler in the Pt structure to increase
 // the cost of cloning a node.
 
-use codspeed_criterion_compat::{Criterion, criterion_group, criterion_main};
+use criterion::{Criterion, criterion_group, criterion_main};
 use pathfinding::prelude::{astar, bfs, dfs, dijkstra, fringe, idastar, iddfs};
 
 #[derive(Clone, Debug, Eq, Hash, Ord, PartialEq, PartialOrd)]
diff --git a/benches/algos.rs b/benches/algos.rs
index 440e7aa8..b580f085 100644
--- a/benches/algos.rs
+++ b/benches/algos.rs
@@ -1,4 +1,4 @@
-use codspeed_criterion_compat::{Criterion, criterion_group, criterion_main};
+use criterion::{Criterion, criterion_group, criterion_main};
 use itertools::Itertools;
 use pathfinding::prelude::{
     astar, bfs, bfs_bidirectional, dfs, dijkstra, fringe, idastar, iddfs, separate_components,
diff --git a/benches/edmondskarp.rs b/benches/edmondskarp.rs
index be7dd03d..b9a3023a 100644
--- a/benches/edmondskarp.rs
+++ b/benches/edmondskarp.rs
@@ -1,4 +1,4 @@
-use codspeed_criterion_compat::{Criterion, criterion_group, criterion_main};
+use criterion::{Criterion, criterion_group, criterion_main};
 use pathfinding::directed::edmonds_karp::{
     DenseCapacity, EKFlows, EdmondsKarp, SparseCapacity, edmonds_karp,
 };
diff --git a/benches/kuhn_munkres.rs b/benches/kuhn_munkres.rs
index 3caa4164..b9c22c37 100644
--- a/benches/kuhn_munkres.rs
+++ b/benches/kuhn_munkres.rs
@@ -1,4 +1,4 @@
-use codspeed_criterion_compat::{BenchmarkId, Criterion, criterion_group, criterion_main};
+use criterion::{BenchmarkId, Criterion, criterion_group, criterion_main};
 use pathfinding::prelude::{Matrix, kuhn_munkres};
 use rand::{Rng as _, SeedableRng as _};
 use rand_xorshift::XorShiftRng;
diff --git a/benches/matrices.rs b/benches/matrices.rs
index a5057976..96a65fb9 100644
--- a/benches/matrices.rs
+++ b/benches/matrices.rs
@@ -1,4 +1,4 @@
-use codspeed_criterion_compat::{Criterion, criterion_group, criterion_main};
+use criterion::{Criterion, criterion_group, criterion_main};
 use pathfinding::matrix::Matrix;
 
 #[expect(clippy::missing_panics_doc)]
diff --git a/benches/movingai.rs b/benches/movingai.rs
index a7c51c0a..1e4fec06 100644
--- a/benches/movingai.rs
+++ b/benches/movingai.rs
@@ -1,6 +1,6 @@
 // Test with files from https://movingai.com/benchmarks/
 
-use codspeed_criterion_compat::{Criterion, criterion_group, criterion_main};
+use criterion::{Criterion, criterion_group, criterion_main};
 use movingai::parser::{parse_map_file, parse_scen_file};
 use movingai::{Coords2D, Map2D};
 use noisy_float::prelude::*;
diff --git a/benches/separate_components.rs b/benches/separate_components.rs
index 5bfe2219..e7f8fbe8 100644
--- a/benches/separate_components.rs
+++ b/benches/separate_components.rs
@@ -1,4 +1,4 @@
-use codspeed_criterion_compat::{Criterion, criterion_group, criterion_main};
+use criterion::{Criterion, criterion_group, criterion_main};
 use itertools::Itertools;
 use pathfinding::prelude::separate_components;
 use rand::{Rng as _, RngCore as _, SeedableRng as _, prelude::SliceRandom};