Table 3.

Experiment results for nonuniform 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%	93.2% ± 4.3%	6.8 ± 20	11 ± 5.8	98.6% ± 0.1%	282 ± 137	1.21 ± 0.05
med	98.8%	97% ± 0.4%	31 ± 51	9.5 ± 4.3	98.7% ± 0.4%	596 ± 271	1.27 ± 0.04
high	100%	96.6% ± 1.5%	111 ± 141	7.5 ± 4.1	98.1% ± 0.6%	760 ± 264	1.23 ± 0.02
vhf	95%	96.3% ± 1.2%	151 ± 199	8.7 ± 5.1	97.8% ± 0.8%	965 ± 288	1.20 ± 0.03
Env.		Greedy			DFS Coverage Planner
		Info	Time	Effort	Info	Time	Effort
low		83% ± 11%	0.3 ± 0.01	1.34 ± 0.10	95% ± 3.3%	0.19 ± 0.03	1.25 ± 0.05
med		79% ± 16%	0.51 ± 0.13	1.41 ± 0.09	96% ± 1.3%	0.31 ± 0.03	1.26 ± 0.03
high		80% ± 10%	0.69 ± 0.01	1.35 ± 0.08	96% ± 1.0%	0.42 ± 0.04	1.24 ± 0.02
vhf		81% ± 12%	0.83 ± 0.16	1.31 ± 0.10	95% ± 1.3%	0.5 ± 0.04	1.20 ± 0.02
Env.		Depth First Branch and Bound
		1st Info	1st Time	${\mathbf{N}}_{\mathbf{sol}}$	Final Info	Final Time	Effort
low		70.2% ± 13.9%	7.3 ± 4.4	36 ± 16	77.3% ± 12.6%	222 ± 78	1.4 ± 0.1
med		62.6% ± 13.0%	29 ± 12	38 ± 16	68.2% ± 11.6%	448 ± 124	1.43 ± 0.09
high		60.9% ± 11.2%	68 ± 21	30 ± 14	64.6% ± 10.6%	675 ± 169	1.45 ± 0.08
vhf		61.3% ± 11.4%	101 ± 31	28 ± 10	64.7% ± 10.7%	790 ± 210	1.42 ± 0.09