Table 1. Mechanism verification results... | Emerald Publishing

Table 1.

Mechanism verification results

Task	Method	SimTime	Margin	Exposure	PlanMs	PathLen	OnTime	Replan
M1	Dijkstra	20.6	12.1	22.94	30.9	144.6	Y	0
M1	A*	21.26	11.44	28.19	30.6	144.6	Y	0
M1	RRT*	23.83	8.87	7.31	459.8	170.5	Y	0
M1	D* Lite	17.38	15.32	2.35	392.6	166.8	Y	11
M1	Proposed	16.1	16.6	0.75	1164.2	158.4	Y	0
M2	Dijkstra	22.51	15.74	29.83	33.8	160.3	Y	0
M2	A*	22.53	15.72	29.82	17.7	160.3	Y	0
M2	RRT*	33.46	4.79	13.95	421.5	204	Y	0
M2	D* Lite	18.32	19.93	4.29	723.1	173.3	Y	8
M2	Proposed	16.6	21.65	0	628	166	Y	0

Task	Method	SimTime	Margin	Exposure	PlanMs	PathLen	OnTime	Replan
M1	Dijkstra	20.6	12.1	22.94	30.9	144.6	Y	0
M1	A*	21.26	11.44	28.19	30.6	144.6	Y	0
M1	RRT*	23.83	8.87	7.31	459.8	170.5	Y	0
M1	D* Lite	17.38	15.32	2.35	392.6	166.8	Y	11
M1	Proposed	16.1	16.6	0.75	1164.2	158.4	Y	0
M2	Dijkstra	22.51	15.74	29.83	33.8	160.3	Y	0
M2	A*	22.53	15.72	29.82	17.7	160.3	Y	0
M2	RRT*	33.46	4.79	13.95	421.5	204	Y	0
M2	D* Lite	18.32	19.93	4.29	723.1	173.3	Y	8
M2	Proposed	16.6	21.65	0	628	166	Y	0