Abstract: A computer-readable storage medium encoded with a data structure for describing a map of a facility having venue elements is provided. Each venue element has at least one map, structural metadata and a plurality of walkable areas. A method of providing navigation instructions is also provided. The method includes providing a facility map, determining a destination on the facility map, selecting a path type, determining a target route between a current location and the destination, the target route being associated with the path type, and determining a navigation instruction along the target route.