Table 2.

Experiment 3 results for uniform environments, mean of 80 trials.

Env.	Succ. Rate	$\mathit{ϵ}$-Admissible Branch and Bound
		1st Info	1st Time	${\mathit{N}}_{\mathbf{sol}}$	Final Info	Final Time	Effort
low	100%	92.8% ± 5.3%	5.8 ± 9	10 ± 4.1	99.1% ± 0.6%	316 ± 169	1.4 ± 0.033
med	98.8%	95.9% ± 0.2%	27 ± 47	9.3 ± 4.5	98.5% ± 0.5%	648 ± 175	1.36 ± 0.030
high	93.8%	96.8% ± 1.1%	76 ± 77	7.4 ± 4.2	98.2% ± 0.5%	961 ± 308	1.31 ± 0.028
vhf	98.8%	96.6% ± 0.9%	129 ± 143	8.9 ± 4.7	98.0% ± 0.9%	1185 ± 273	1.27 ± 0.030
Env.		Greedy			DFS Coverage Planner
		Info	Time	Effort	Info	Time	Effort
low		85% ± 7.8%	0.3 ± 0.1	1.61 ± 0.01	97% ± 3%	0.2 ± 0.02	1.48 ± 0.064
med		81% ± 11%	0.57± 0.12	1.61 ± 0.15	97% ± 1.0%	0.3 ± 0.03	1.40 ± 0.033
high		82% ± 11%	0.78 ± 0.26	1.56 ± 0.18	97% ± 0.7%	0.42 ± 0.04	1.35 ± 0.029
vhf		84% ± 10%	0.87 ± 0.15	1.47 ± 0.16	96% ± 1%	0.5 ± 0.04	1.30 ± 0.18
Env.		Depth First Branch and Bound
		1st Info	1st Time	${\mathbf{N}}_{\mathbf{sol}}$	Final Info	Final Time	Effort
low		71.2% ± 10%	8.5 ± 4.7	42 ± 17	78.1% ± 8.8%	235 ± 85	1.72 ± 0.11
med		66.3% ± 11.4%	31 ± 12	38 ± 16	71.2% ± 10.1%	466 ± 107	1.75 ± 0.14
high		61.9% ± 11.5%	69 ± 21	34 ± 15	65.5% ± 10.6%	712 ± 160	1.80 ± 0.15
vhf		61.6% ± 11.8%	107 ± 31	30 ± 15	64.6% ± 11.6%	862 ± 216	1.77 ± 0.17