Optimal exploration path Files

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                 C++ Exploration problem solver

                 Logs


        Alberto Quattrini Li*, Nicola Basilico+, Francesco Amigoni*

                  *Politecnico di Milano, Italy
                  +University of Milan, Italy

			21/12/2013

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Here, we provide logs of simulated experimental activities shown
in the extension paper submitted to a journal.

STRUCTURE OF FOLDER
===================
-ROOT-+-
      |
      |-indoor : logs of experiments carried out in the indoor environment
      |-obstacles : logs of experiments carried out in the obstacles environment
      |-openspace : logs of experiments carried out in the openspace environment
      
The subfolders are structured according to the following dimensions 
(experimental configuration):
- optimality criterion
- sensor range
- cell size
- goal percentage

Specifically, each folder related to a map contains results of simulated 
experiments considering as optimality criteria:
- traveled distance
- number of steps

Then, according to each optimality criterion, we can have as sensor range:
- 20 units
- 25 units
- 30 units

According to each value of sensor range, we can have as cell size:
- 1 unit
- 2 units
- 4 units

Finally, we can have the following goal percentage:
- 0.85
- 0.9
- 0.95

For the indoor environment, we report the results of some additional 
simulated experiments we carried out considering traveled distance, 
25 units for the sensor range, 1 unit for the cell size:
- goal percentage equal to 1 (not in the folder 'additional_test')
- the use of the laser sensor (goal percentage = 0.85)
- the use of the old heuristics (goal percentage = 0.85)

Each folder related to an experimental configuration contains 10 .tgz files,
each related to each of the 10 initial positions considered for the robot
in an environment. Specifically, in each compressed file, there are the log,
and the states of the solution to the relaxed problem and to the actual problem.
Furthermore each folder contains five text files:
- distance/steps.dat: cost of the solution (2 for each initial position,
one related to the relaxed problem, one related to the actual problem)
- duplicate_nodes.dat, expanded_nodes.dat, still_in_frontier.dat: number of
duplicate, expanded, and still-in-frontier nodes processed by the algorithm
- time.dat: computation time

Note that there are some files, whose name start with "flags" and there are
indicated the parameters, common to all the experimental configurations
in the subfolders.