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Statistic Methods for Path-Planning Algorithms Comparison

Author:
Muñoz, Pablo [DBLP] ;
Barrero, David F. [DBLP] ;
R-Moreno, María D. [DBLP]
Abstract
The path-planning problem for autonomous mobile robots has been addressed by classical search techniques such as A* or, more recently, Theta* or S-Theta*. However, research usually focuses on reducing the length of the path or the processing time. The common practice in the literature is to report the run-time/length of the algorithm with means and, sometimes, some dispersion measure. However, this practice has several drawbacks, mainly due to the loose of valuable information that this reporting practice involves such as asymmetries in the run-time, or the shape of its distribution. Run-time analysis is a type of empirical tool that studies the time consumed by running an algorithm. This paper is an attempt to bring this tool to the path-planning community. To this end the paper reports an analysis of the run-time of the path-planning algorithms with a variety of problems of different degrees of complexity, indoors, outdoors and Mars surfaces. We conclude that the time required by these algorithms follows a lognormal distribution.
  • Citation
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Muñoz, P., Barrero, D. F. & R-Moreno, M. D., (2013). Statistic Methods for Path-Planning Algorithms Comparison.   KI - Künstliche Intelligenz: Vol. 27, No. 3. Springer. (S. 201-211). DOI: 10.1007/s13218-013-0257-0
@article{mci/Muñoz2013,
author = {Muñoz, Pablo AND Barrero, David F. AND R-Moreno, María D.},
title = {Statistic Methods for Path-Planning Algorithms Comparison},
journal = {KI - Künstliche Intelligenz},
volume = {27},
number = {3},
year = {2013},
,
pages = { 201-211 } ,
doi = { 10.1007/s13218-013-0257-0 }
}

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More Info

DOI: 10.1007/s13218-013-0257-0
ISSN: 1610-1987
xmlui.MetaDataDisplay.field.date: 2013
Content Type: Text/Journal Article

Keywords

  • Path-planning
  • Planetary exploration
  • Robotics
  • Run-time analysis
Collections
  • Künstliche Intelligenz 27(3) - August 2013 [14]

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Diese Digital Library basiert auf DSpace.

 

 


About uns | FAQ | Help | Imprint | Datenschutz

Gesellschaft für Informatik e.V. (GI), Kontakt: Geschäftsstelle der GI
Diese Digital Library basiert auf DSpace.