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slurm-2813196.out
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World size: 500
World type: 2
Version: 119
K: 8000
Number of cpus: 4
choose TWELVE_OBS
===== Parallel version RRT*! =====
Starting RRT* Algorithm...
First Viable Solution Obtained after 1070 iterations
Cost is 604.315
Saving the generated plan (vector of points)
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 1151 iterations
Cost is 268.963
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8000 iterations
Cost is 268.963
Exceeded max iterations!
Saving the generated plan (vector of points)
Execution time: 6.000000 seconds
--------------------------------------------- End------------------------------------------------------
World size: 1000
World type: 2
Version: 120
K: 40000
Number of cpus: 4
choose TWELVE_OBS
===== Parallel version RRT*! =====
Starting RRT* Algorithm...
First Viable Solution Obtained after 7761 iterations
Cost is 1132.18
Saving the generated plan (vector of points)
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 7980 iterations
Cost is 935.029
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8557 iterations
Cost is 696.17
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 8819 iterations
Cost is 695.344
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 10182 iterations
Cost is 695.218
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 11080 iterations
Cost is 690.684
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 11121 iterations
Cost is 690.084
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 40000 iterations
Cost is 690.084
Exceeded max iterations!
Saving the generated plan (vector of points)
Execution time: 113.875000 seconds
--------------------------------------------- End------------------------------------------------------
World size: 1500
World type: 2
Version: 121
K: 50000
Number of cpus: 4
choose TWELVE_OBS
===== Parallel version RRT*! =====
Starting RRT* Algorithm...
First Viable Solution Obtained after 3542 iterations
Cost is 1674.04
Saving the generated plan (vector of points)
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3551 iterations
Cost is 881.684
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 3552 iterations
Cost is 881.551
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 50000 iterations
Cost is 881.551
Exceeded max iterations!
Saving the generated plan (vector of points)
Execution time: 166.625000 seconds
--------------------------------------------- End------------------------------------------------------
World size: 3000
World type: 2
Version: 122
K: 80000
Number of cpus: 4
choose TWELVE_OBS
===== Parallel version RRT*! =====
Starting RRT* Algorithm...
First Viable Solution Obtained after 18494 iterations
Cost is 3295.96
Saving the generated plan (vector of points)
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 19410 iterations
Cost is 2189.34
=========================================================================
The algorithm continues iterating on the current plan to improve the plan
More optimal solution has obtained after 80000 iterations
Cost is 2189.34
Exceeded max iterations!
Saving the generated plan (vector of points)
Execution time: 434.000000 seconds
--------------------------------------------- End------------------------------------------------------