Table 10 Experimental results of OPTIC...

Table 10

Experimental results of OPTIC and POPF on nominal and disrupted-operation instances

Scale	Nominal-operation instances			Disrupted-operation instances
Scale	Makespan	Plan length	Delay	Makespan	Plan length	Delay
S1	30.5 $\pm$ 3.1	15.0 $\pm$ 6.1	0.0	42.6 $\pm$ 19.4	18.0 $\pm$ 6.1	28.0 $\pm$ 42.2
S2	33.9 $\pm$ 1.4	37.0 $\pm$ 6.1	0.0	46.3 $\pm$ 18.8	40.0 $\pm$ 6.1	44.1 $\pm$ 92.8
M1	33.8 $\pm$ 0.8	59.2 $\pm$ 6.4	0.0	46.7 $\pm$ 25.4	62.7 $\pm$ 6.9	60.8 $\pm$ 140.9
M2	34.5 $\pm$ 1.3	79.6 $\pm$ 6.9	0.0	49.1 $\pm$ 14.5	86.7 $\pm$ 7.4	88.5 $\pm$ 176.5
L1	34.8 $\pm$ 1.5	102.4 $\pm$ 6.9	0.0	50.0 $\pm$ 25.1	112.2 $\pm$ 7.2	120.3 $\pm$ 229.6
L2	34.5 $\pm$ 0.6	125.8 $\pm$ 7.0	0.0	52.0 $\pm$ 20.2	138.2 $\pm$ 7.9	140.4 $\pm$ 254.5
L3	34.6 $\pm$ 0.9	148.6 $\pm$ 7.2	0.0	53.0 $\pm$ 24.0	163.3 $\pm$ 8.5	170.3 $\pm$ 317.3
VL1	35.0 $\pm$ 0.7	171.6 $\pm$ 8.3	0.0	54.2 $\pm$ 25.7	193.2 $\pm$ 9.4	217.1 $\pm$ 358.4
VL2	35.2 $\pm$ 1.0	199.0 $\pm$ 8.5	0.0	55.0 $\pm$ 29.6	224.1 $\pm$ 9.6	255.9 $\pm$ 425.3
VL3^a	35.4 $\pm$ 0.7	226.6 $\pm$ 8.6	0.0	74.6 $\pm$ 16.2	251.7 $\pm$ 7.7	655.8 $\pm$ 490.4
Mean	34.2 $\pm$ 1.9	116.5 $\pm$ 67.4	0.0	52.1 $\pm$ 22.8	127.7 $\pm$ 75.0	173.3 $\pm$ 319.8

Scale	Nominal-operation instances			Disrupted-operation instances
Scale	Makespan	Plan length	Delay	Makespan	Plan length	Delay
S1	30.5 $\pm$ 3.1	15.0 $\pm$ 6.1	0.0	42.6 $\pm$ 19.4	18.0 $\pm$ 6.1	28.0 $\pm$ 42.2
S2	33.9 $\pm$ 1.4	37.0 $\pm$ 6.1	0.0	46.3 $\pm$ 18.8	40.0 $\pm$ 6.1	44.1 $\pm$ 92.8
M1	33.8 $\pm$ 0.8	59.2 $\pm$ 6.4	0.0	46.7 $\pm$ 25.4	62.7 $\pm$ 6.9	60.8 $\pm$ 140.9
M2	34.5 $\pm$ 1.3	79.6 $\pm$ 6.9	0.0	49.1 $\pm$ 14.5	86.7 $\pm$ 7.4	88.5 $\pm$ 176.5
L1	34.8 $\pm$ 1.5	102.4 $\pm$ 6.9	0.0	50.0 $\pm$ 25.1	112.2 $\pm$ 7.2	120.3 $\pm$ 229.6
L2	34.5 $\pm$ 0.6	125.8 $\pm$ 7.0	0.0	52.0 $\pm$ 20.2	138.2 $\pm$ 7.9	140.4 $\pm$ 254.5
L3	34.6 $\pm$ 0.9	148.6 $\pm$ 7.2	0.0	53.0 $\pm$ 24.0	163.3 $\pm$ 8.5	170.3 $\pm$ 317.3
VL1	35.0 $\pm$ 0.7	171.6 $\pm$ 8.3	0.0	54.2 $\pm$ 25.7	193.2 $\pm$ 9.4	217.1 $\pm$ 358.4
VL2	35.2 $\pm$ 1.0	199.0 $\pm$ 8.5	0.0	55.0 $\pm$ 29.6	224.1 $\pm$ 9.6	255.9 $\pm$ 425.3
VL3^a	35.4 $\pm$ 0.7	226.6 $\pm$ 8.6	0.0	74.6 $\pm$ 16.2	251.7 $\pm$ 7.7	655.8 $\pm$ 490.4
Mean	34.2 $\pm$ 1.9	116.5 $\pm$ 67.4	0.0	52.1 $\pm$ 22.8	127.7 $\pm$ 75.0	173.3 $\pm$ 319.8

Note(s):

Disrupted VL3 statistics are computed over the nine solved instances

Makespan and delay are reported in minutes and plan length in actions, as mean $\pm$ standard deviation over ten instances per group. Both planners produced plans of identical quality on every commonly solved instance; a single unified set of quality metrics is therefore reported

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