Table 4.
Comparison of different search heuristics on different instances of the FieldVision-RockSample environment.
| Heuristic | Return | EBR (%) | LBI | Belief Nodes | Nodes Reused (%) | Online Time (ms) |
|---|---|---|---|---|---|---|
| FVRS[5,5] [Blind: Return:8.15, |Γ| = 1, Time=170ms] | ||||||
| RTBSS(2) | 16.54 ± 0.37 | 18.4 ± 1.1 | 2.80 ± 0.19 | 18499 ± 102 | 0 ± 0 | 3135 ± 27 |
| AEMS1 | 16.88 ± 0.36 | 17.1 ± 1.1 | 2.35 ± 0.16 | 8053 ± 123 | 1.19 ± 0.07 | 876 ± 5 |
| Satia and Lave | 18.68 ± 0.39 | 15.9 ± 1.2 | 2.17 ± 0.16 | 7965 ± 118 | 0.88 ± 0.06 | 878 ± 4 |
| HSVI-BFS | 20.27 ± 0.44 | 23.8 ± 1.4 | 2.64 ± 0.14 | 4494 ± 105 | 4.50 ± 0.80 | 857 ± 12 |
| AEMS2 | 21.18 ± 0.45 | 31.5 ± 1.5 | 3.11 ± 0.15 | 12301 ± 440 | 3.93 ± 0.22 | 854 ± 13 |
| BI-POMDP | 22.75 ± 0.47 | 31.1 ± 1.2 | 3.30 ± 0.17 | 12199 ± 427 | 2.26 ± 0.44 | 782 ± 12 |
| FVRS[5,7] [Blind: Return:8.15, |Γ| = 1, Time=761ms] | ||||||
| RTBSS(1) | 20.57 ± 0.23 | 7.72 ± 0.13 | 2.07 ± 0.11 | 516 ± 1 | 0 ± 0 | 254 ± 1 |
| BI-POMDP | 22.75 ± 0.25 | 11.1 ± 0.4 | 2.08 ± 0.07 | 4457 ± 61 | 0.37 ± 0.11 | 923 ± 2 |
| Satia and Lave | 22.79 ± 0.25 | 11.1 ± 0.4 | 2.05 ± 0.08 | 3683 ± 52 | 0.36 ± 0.07 | 947 ± 3 |
| AEMS1 | 23.31 ± 0.25 | 12.4 ± 0.4 | 2.24 ± 0.08 | 3856 ± 55 | 1.36 ± 0.13 | 942 ± 3 |
| AEMS2 | 23.39 ± 0.25 | 13.3 ± 0.4 | 2.35 ± 0.08 | 4070 ± 58 | 1.64 ± 0.14 | 944 ± 2 |
| HSVI-BFS | 23.40 ± 0.25 | 13.0 ± 0.4 | 2.30 ± 0.08 | 3573 ± 52 | 1.69 ± 0.27 | 946 ± 3 |