Path Finding

Assignment 3 @ COMP-521

The results below are obtained from simulating for 60 seconds.

2 Agents

#	Successful	Path Planned	Path Re-planned	Total Planning Time (ms)
1	44	44	0	11.479
2	36	48	11	22.1644
3	42	58	14	20.0816
Avg	41	50	8	17.9083

4 Agents

#	Successful	Path Planned	Path Re-planned	Total Planning Time (ms)
1	71	116	43	20.4988
2	82	111	25	22.4063
3	84	113	27	23.8855
Avg	79	113	31	22.2635

8 Agents

#	Successful	Path Planned	Path Re-planned	Total Planning Time (ms)
1	149	294	138	53.7201
2	149	313	158	55.3343
3	154	252	90	37.7279
Avg	151	286	127	48.9274

16 Agents

#	Successful	Path Planned	Path Re-planned	Total Planning Time (ms)
1	241	963	707	106.2626
2	254	802	535	131.3696
3	296	822	515	95.6203
Avg	264	862	586	111.0842

32 Agents

#	Successful	Path Planned	Path Re-planned	Total Time (ms)
1	365	2622	2230	357.3556
2	366	2668	2274	313.1011
3	373	2684	2285	291.9881
Avg	368	2658	2263	320.8149

Starting from 16 agent we see a slight decline in the average successful path planned. Behavior is starting to become unacceptable after 32 Agents, although the frame rate is still high. Sometimes, more agents will have paths colliding with each other, and this issue is pronounced when you have a cluster of agents colliding in the same region. In such cases, agents kept pushing back and bumping into each other which staled the whole movement.