Table 2. Results in the normal scenario... | Emerald Publishing

Table 2.

Results in the normal scenario (15 tasks, 30 seeds)

Method	OnTime(%)	PFR(%)	SimTime	Margin	Exposure	PlanMs	PathLen
Dijkstra	100.00	100.00	12.69 ± 1.35	24.38 ± 2.03	10.11 ± 2.32	21.6 ± 4.2	102.8
A*	100.00	100.00	12.57 ± 1.34	24.50 ± 2.03	9.66 ± 2.38	15.6 ± 3.6	102.8
RRT*	73.10	73.10	14.63 ± 2.02	22.35 ± 2.54	3.00 ± 0.77	427.2 ± 68.6	116.5
D* Lite	100.00	100.00	11.24 ± 1.21	25.83 ± 1.92	1.65 ± 0.47	441.5 ± 209.7	107.4
Proposed	100.00	100.00	10.72 ± 1.12	26.35 ± 1.84	0.23 ± 0.14	282.7 ± 79.3	106.5

Method	OnTime(%)	PFR(%)	SimTime	Margin	Exposure	PlanMs	PathLen
Dijkstra	100.00	100.00	12.69 ± 1.35	24.38 ± 2.03	10.11 ± 2.32	21.6 ± 4.2	102.8
A*	100.00	100.00	12.57 ± 1.34	24.50 ± 2.03	9.66 ± 2.38	15.6 ± 3.6	102.8
RRT*	73.10	73.10	14.63 ± 2.02	22.35 ± 2.54	3.00 ± 0.77	427.2 ± 68.6	116.5
D* Lite	100.00	100.00	11.24 ± 1.21	25.83 ± 1.92	1.65 ± 0.47	441.5 ± 209.7	107.4
Proposed	100.00	100.00	10.72 ± 1.12	26.35 ± 1.84	0.23 ± 0.14	282.7 ± 79.3	106.5