Table 4. Results in the dense scenario... | Emerald Publishing

Table 4.

Results in the dense scenario (45 tasks, 30 seeds)

Method	OnTime(%)	PFR(%)	SimTime	Margin	Exposure	PlanMs	PathLen
Dijkstra	100.00	100.00	15.98 ± 1.07	21.08 ± 1.24	28.04 ± 2.75	23.0 ± 1.9	103.4
A*	100.00	100.00	16.18 ± 1.10	20.88 ± 1.25	29.22 ± 2.79	14.5 ± 1.8	103.4
RRT*	73.30	76.50	19.01 ± 1.41	18.09 ± 1.72	8.65 ± 1.17	340.8 ± 9.2	119.4
D* lite	100.00	100.00	12.17 ± 0.75	24.89 ± 1.01	1.79 ± 0.22	609.7 ± 87.2	116.5
Proposed	100.00	100.00	11.27 ± 0.66	25.80 ± 0.95	0.15 ± 0.04	431.1 ± 49.1	112.2

Method	OnTime(%)	PFR(%)	SimTime	Margin	Exposure	PlanMs	PathLen
Dijkstra	100.00	100.00	15.98 ± 1.07	21.08 ± 1.24	28.04 ± 2.75	23.0 ± 1.9	103.4
A*	100.00	100.00	16.18 ± 1.10	20.88 ± 1.25	29.22 ± 2.79	14.5 ± 1.8	103.4
RRT*	73.30	76.50	19.01 ± 1.41	18.09 ± 1.72	8.65 ± 1.17	340.8 ± 9.2	119.4
D* lite	100.00	100.00	12.17 ± 0.75	24.89 ± 1.01	1.79 ± 0.22	609.7 ± 87.2	116.5
Proposed	100.00	100.00	11.27 ± 0.66	25.80 ± 0.95	0.15 ± 0.04	431.1 ± 49.1	112.2