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. Author manuscript; available in PMC: 2014 Jul 1.
Published in final edited form as: Rep U S. 2011:5153–5159. doi: 10.1109/IROS.2011.6095168

Fig. 4.

Fig. 4

Execution times in the test environments shown in Fig. 3 for each evaluated planning algorithm. We also note that the quality metric values of plans generated by the RRM were always better than RRT plans and always within 1% of the RRG plans.