Can SOAR be run in real-time on an onboard computer?

[HZhang1003]

SOAR is an outstanding piece of work that has made a significant contribution to the community. According to the introduction, SOAR can achieve real-time exploration and planning. So, does this algorithm have strict requirements for computing power? Can it run on the computing power of an onboard computer?
Looking forward to your reply.

[Zager-Zhang]

Thank you for your excellent question regarding SOAR's computational demands and its suitability for onboard computers. Our current testing has primarily been conducted in simulated environments. While real-time performance was a consideration in the algorithm's design, multi-robot deployment still presents challenges, and we have not yet performed tests on onboard computers. We plan to extend SOAR and conduct real-world tests in the future, which will provide more concrete information on its performance in practical scenarios.