Partial Global Planning: Experiments and Evaluation
The majority of the experiments are conducted on four-node networks, although experiments involving both larger and smaller networks are also discussed. The two principal environments are shown in Figure 68. Environment A was used for examples in the previous two chapters. Its important features are the track shared by several nodes (d1-d15), the much less globally-important moderately-sensed data of node 1 (d’1-d’5), and the ambiguity introduced into node 2′s data by its sensor. Environment A thus focuses on issues of giving preference to more globally-important plans, providing predictive information, and avoiding redundant processing.
Unable to display preview. Download preview PDF.