Scenarios
Robot start (green) and goal (red). Static obstacles are grey; dynamic obstacles are orange.
Trajectories
Example solutions. Numbers match Table II. U1: 1st Order Unicycle; U2: 2nd Order Unicycle; C: Car with Trailer; P: Planar Rotor.
Benchmark Results
Table II. Bold values mark the best result per metric (lowest cost and time-to-first solution, highest success rate). Dashes indicate that no solution was found.
| Db-RRT | ST-Db-RRT | KIST | ST-GBRRT | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| # | Scenario | Dynamics | c [s] | t1 [s] | sr [p] | c [s] | t1 [s] | sr [p] | c [s] | t1 [s] | sr [p] | c [s] | t1 [s] | sr [p] |
| 01 | Empty | 1st Order Unicycle | 15.5 | 0.1 | 1.0 | 14.7 | 0.5 | 1.0 | 15.1 | 1.1 | 1.0 | 14.4 | 1.9 | 1.0 |
| 02 | Revolving Door | 1st Order Unicycle | 11.5 | 0.2 | 1.0 | 11.5 | 1.1 | 1.0 | 10.7 | 1.7 | 1.0 | 10.5 | 2.6 | 1.0 |
| 03 | Double Revolving Door | 1st Order Unicycle | 13.8 | 0.3 | 1.0 | 13.4 | 1.7 | 1.0 | 12.8 | 2.8 | 1.0 | 12.6 | 5.7 | 1.0 |
| 04 | Multi Revolving Door | 1st Order Unicycle | 17.2 | 0.5 | 1.0 | 17.7 | 2.7 | 1.0 | 18.4 | 5.5 | 1.0 | 16.2 | 10.6 | 1.0 |
| 05 | Double Moving Windows | 1st Order Unicycle | 11.5 | 0.2 | 1.0 | 11.6 | 2.4 | 1.0 | 11.6 | 2.3 | 1.0 | 10.6 | 4.4 | 1.0 |
| 06 | Shortcut | 1st Order Unicycle | 15.2 | 0.1 | 1.0 | 14.7 | 0.8 | 1.0 | 14.6 | 2.1 | 1.0 | 14.1 | 3.4 | 1.0 |
| 07 | Bugtrap | 1st Order Unicycle | 28.8 | 0.6 | 1.0 | 32.2 | 32.3 | 1.0 | 41.1 | 42.3 | 1.0 | -- | -- | 0.0 |
| 08 | Wait | 1st Order Unicycle | -- | -- | 0.0 | 39.4 | 2.0 | 1.0 | 39.1 | 32.2 | 0.7 | -- | -- | 0.0 |
| 09 | Elevator | 1st Order Unicycle | 17.9 | 35.4 | 0.9 | 17.4 | 18.0 | 0.5 | 18.4 | 16.9 | 0.6 | 16.6 | 15.4 | 1.0 |
| 10 | Empty | 2nd Order Unicycle | 21.7 | 0.2 | 1.0 | 19.6 | 0.5 | 1.0 | 19.9 | 1.3 | 1.0 | 18.7 | 44.8 | 0.9 |
| 11 | Revolving Door | 2nd Order Unicycle | 13.4 | 0.2 | 1.0 | 12.7 | 1.2 | 1.0 | 13.2 | 3.8 | 1.0 | 12.2 | 10.7 | 1.0 |
| 12 | Double Revolving Door | 2nd Order Unicycle | 22.4 | 0.3 | 0.8 | 20.7 | 1.9 | 1.0 | 23.3 | 5.4 | 1.0 | -- | -- | 0.0 |
| 13 | Multi Revolving Door | 2nd Order Unicycle | 23.6 | 0.5 | 1.0 | 22.5 | 2.5 | 1.0 | 34.3 | 7.7 | 1.0 | 21.5 | 79.9 | 0.8 |
| 14 | Double Moving Windows | 2nd Order Unicycle | 15.9 | 0.3 | 1.0 | 17.7 | 3.5 | 1.0 | 27.6 | 8.5 | 1.0 | 15.2 | 74.5 | 0.2 |
| 15 | Wait | 2nd Order Unicycle | -- | -- | 0.0 | 41.9 | 38.5 | 0.7 | -- | -- | 0.0 | -- | -- | 0.0 |
| 16 | Lane Switch | 2nd Order Unicycle | 30.6 | 0.3 | 1.0 | 29.8 | 3.1 | 1.0 | 29.9 | 7.0 | 1.0 | -- | -- | 0.0 |
| 17 | Empty | Car with Trailer | 14.4 | 0.1 | 1.0 | 17.9 | 1.3 | 1.0 | 14.1 | 0.5 | 1.0 | 13.2 | 4.3 | 1.0 |
| 18 | Lane Switch | Car with Trailer | 29.4 | 0.3 | 1.0 | 31.6 | 2.1 | 1.0 | 28.7 | 26.9 | 0.9 | -- | -- | 0.0 |
| 19 | Park | Car with Trailer | 7.8 | 0.3 | 1.0 | 8.2 | 0.4 | 1.0 | 7.7 | 0.9 | 1.0 | 7.0 | 1.4 | 1.0 |
| 20 | Parking Lot | Car with Trailer | 25.1 | 0.4 | 1.0 | 30.0 | 2.8 | 1.0 | 25.8 | 16.8 | 1.0 | -- | -- | 0.0 |
| 21 | Empty | Planar Rotor | 2.8 | 0.6 | 1.0 | 5.8 | 11.0 | 1.0 | 3.5 | 4.1 | 1.0 | 2.6 | 94.4 | 0.5 |
| 22 | Moving Ceiling | Planar Rotor | 5.3 | 4.7 | 1.0 | 7.6 | 18.0 | 1.0 | 5.9 | 19.7 | 1.0 | -- | -- | 0.0 |
| 23 | Moving Small Ceiling | Planar Rotor | 7.1 | 4.1 | 1.0 | 9.5 | 33.9 | 1.0 | 6.8 | 28.0 | 1.0 | -- | -- | 0.0 |
| 24 | Double Ceiling | Planar Rotor | 8.3 | 6.1 | 0.9 | 12.2 | 73.7 | 0.9 | 7.6 | 40.0 | 1.0 | -- | -- | 0.0 |
| 25 | Elevator | Planar Rotor | 15.6 | 5.9 | 0.8 | 19.7 | 80.8 | 0.6 | 16.9 | 91.2 | 0.8 | -- | -- | 0.0 |
Cost-Success Plots
Numbers match Table II. U1: 1st Order Unicycle; U2: 2nd Order Unicycle; C: Car with Trailer; P: Planar Rotor.
Db-RRT vs ST-Db-RRT
Db-RRT ST-Db-RRT
ST-Db-RRT vs ST-GBRRT vs KIST
ST-Db-RRT ST-GBRRT KIST