Table 2 Test on Different Service Design
From: Service robot planning via solving constraint satisfaction problem
Test no. | Description of the goal | Command | Steps | A (sec) | B (sec) | C (sec) |
|---|---|---|---|---|---|---|
1 | Approach N1 | Explicit | 4 | 0.431 | 0.219 | 0.294 |
2 | Open all windows in master bedroom | Implicit | 7 | 1.357 | 0.938 | 1.346 |
3 | Move M2 to N20 (same location) | Explicit | 9 | 2.27 | 1.03 | 1.76 |
4 | Move any canned drink to M34 | Implicit | 9 | 3.36 | 2.74 | 5.21 |
5 | Move M5 to N31 (different location) | Explicit | 13 | 18.36 | 14.94 | 11.36 |
6 | Switch on N10, N12, N14, N28 | Explicit | 22 | 655.40 | 272.67 | 609.35 |