Recorded online-planning study

Dynamic replanning

Time-indexed UAV trajectories under temporary no-fly zones and moving obstacles.

Illustrative traces · non-confirmatory

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Current plan Executed trajectory Active temporary zone Moving obstacle Vehicle

Time-indexed state

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Values for the currently displayed simulation frame
Time (s) Event Replan Planner timing Work used Changed edges Active temporary zones Moving obstacles

Scenario comparison

One deterministic trace per planner under the same scenario and event schedule.

Work is an algorithm-specific diagnostic: expanded nodes and D* Lite queue pops are not equivalent units and should not be compared directly.
Planner Status Completion (s) Path length (m) Replans Holds Safety-gate Work

Recorded outcome

Run-level values are descriptive outcomes for the selected scenario and planner.
Measure Value
Method and provenance