Table 2.

Comparison of different search heuristics on the Tag environment using the Blind policy as a lower bound.

Heuristic	Return	EBR (%)	LBI	Belief Nodes	Nodes Reused (%)	Online Time (ms)
RTBSS(5)	−10.31 ± 0.22	22.3 ± 0.4	3.03 ± 0.07	45066 ± 701	0	580 ± 9
Satia and Lave	−8.35 ± 0.18	22.9 ± 0.2	2.47 ± 0.04	36908 ± 209	10.0 ± 0.2	856 ± 4
AEMS1	−6.73 ± 0.15	49.0 ± 0.3	3.92 ± 0.03	43693 ± 314	25.1 ± 0.3	814± 4
HSVI-BFS	−6.22 ± 0.19	75.7 ± 0.4	7.69 ± 0.06	64870 ± 947	54.1 ± 0.7	673 ± 5
BI-POMDP	−6.22 ± 0.15	76.2 ± 0.5	7.81 ± 0.06	79508 ± 1000	54.6 ± 0.6	622 ± 4
AEMS2	−6.19 ± 0.15	76.3 ± 0.5	7.81 ± 0.06	80250 ± 1018	54.8 ± 0.6	623 ± 4