Figure 4.

VO−type diagram of the sparse scenario. The robot is positioned in the origin and is denoted by a red circle. The yellow area represents the reachable available velocities, with the red arrow being the optimal velocity corresponding to the fastest solution. The blue disks represent the obstacles with their velocities, while the gray triangles are the corresponding VOs. The x-marks distributed within the area of reachable velocities are the initial population of the GAVO variants. The fact that the area of reachable velocities only minimally overlaps with any VO shows that this is an “easy” scenario.