Robot Navigation on Hospital Scenario 2
10Safety Compliance CountMPPI
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| MPPIRuntime Mean (s)=0.028, Runtime Std (s)=0.0112026.01 | 10 | 0 | 0 | — | |
| CBFRuntime Mean (s)=0.01, Runtime Std (s)=0.0092026.01 | 10 | 10 | 1 | 28.9 | |
| MMP-MPPIRuntime Mean (s)=0.045, Runtime Std (s)=0.0052026.01 | 10 | 0 | 0 | — | |
| MMP-CBFRuntime Mean (s)=0.01, Runtime Std (s)=0.0072026.01 | 10 | 5 | 317 | 34 | |
| MMP-MCBFRuntime Mean (s)=0.036, Runtime Std (s)=0.0182026.01 | 10 | 10 | 0 | 19.3 | |
| MCBFRuntime Mean (s)=0.018, Runtime Std (s)=0.0092026.01 | 5 | 4 | 426 | 19.3 | |
| MMP-MPCRuntime Mean (s)=0.066, Runtime Std (s)=0.0462026.01 | 0 | 1 | 0 | 33.6 |