Path Planning on Synthetic ground-truth risk fields 48 scenarios (test)
0.6612KL Reductiononline replanning planner
Evaluation Results
| Method | Links | |
|---|---|---|
| online replanning plannernc=10, nh=1, Np=3, trials=1002026.05 | 0.6612 | |
| online replanning plannernc=6, nh=1, Np=0, trials=1002026.05 | 0.6556 | |
| online replanning plannernc=6, nh=1, Np=2, trials=1002026.05 | 0.6386 | |
| online replanning plannernc=6, nh=1, Np=3, trials=1002026.05 | 0.628 | |
| online replanning plannernc=6, nh=1, Np=1, trials=1002026.05 | 0.6162 | |
| online replanning plannernc=10, nh=4, Np=3, trials=1002026.05 | 0.6158 | |
| online replanning plannernc=8, nh=1, Np=0, trials=1002026.05 | 0.594 | |
| offline optimized B-spline plannernc=6, nh=1, Np=0, trials=1002026.05 | 0.5569 | |
| offline optimized B-spline plannernc=10, nh=1, Np=3, trials=1002026.05 | 0.5549 | |
| offline optimized B-spline plannernc=10, nh=4, Np=3, trials=1002026.05 | 0.5414 | |
| offline optimized B-spline plannernc=6, nh=1, Np=2, trials=1002026.05 | 0.5357 | |
| offline optimized B-spline plannernc=6, nh=1, Np=1, trials=1002026.05 | 0.5343 | |
| Lawnmower baselinenc=10, nh=1, Np=3, trials=1002026.05 | 0.5334 | |
| offline optimized B-spline plannernc=6, nh=1, Np=3, trials=1002026.05 | 0.5331 | |
| offline optimized B-spline plannernc=8, nh=1, Np=0, trials=1002026.05 | 0.5293 | |
| Straight-line baselinenc=10, nh=1, Np=3, trials=1002026.05 | 0.506 | |
| Lawnmower baselinenc=6, nh=1, Np=3, trials=1002026.05 | 0.4797 | |
| Lawnmower baselinenc=10, nh=4, Np=3, trials=1002026.05 | 0.4767 | |
| Lawnmower baselinenc=8, nh=1, Np=0, trials=1002026.05 | 0.4574 | |
| Lawnmower baselinenc=6, nh=1, Np=2, trials=1002026.05 | 0.4562 | |
| Lawnmower baselinenc=6, nh=1, Np=1, trials=1002026.05 | 0.4513 | |
| Lawnmower baselinenc=6, nh=1, Np=0, trials=1002026.05 | 0.4492 | |
| Straight-line baselinenc=10, nh=4, Np=3, trials=1002026.05 | 0.4419 | |
| Straight-line baselinenc=6, nh=1, Np=3, trials=1002026.05 | 0.4397 | |
| Straight-line baselinenc=6, nh=1, Np=2, trials=1002026.05 | 0.416 | |
| Straight-line baselinenc=8, nh=1, Np=0, trials=1002026.05 | 0.4154 | |
| Straight-line baselinenc=6, nh=1, Np=0, trials=1002026.05 | 0.4128 | |
| Straight-line baselinenc=6, nh=1, Np=1, trials=1002026.05 | 0.4113 |