SmartPather 测试结果
项目的主张是：规划器给出的解不会压到障碍物，也不会让两个智能体比它们的半径和更近。
300
/ 300 抽到的实例
由独立校验器验证通过
INVALID ANSWER
0
校验器未拒绝任何解
could not run
0
读取或规划失败
其中未解完
3
解合法但没放完全部智能体
单实例耗时
73 ms
p50 · p95 2.4 s
口径：对 xval-out/converted 分层抽样 300 个实例（共 6,200 个），8 线程，墙钟 19.3 s。
「solved and verified」与扫描测试同义：独立校验器接受了答案，不代表每个智能体都被规划出来——后一项单列，因为两者是不同的两件事。
已记录的基线是整语料的 6200 solved and verified / 0 unsolved / 0 INVALID / 0 could not run（docs/COMPAT.md §7），本次只跑了抽样。
测试套件
8 个测试目标：258 passed · 0 failed · 3 ignored，cargo 退出码 0。
通过失败ignored（未运行）
表格视图
| 目标 | 类型 | passed | failed | ignored | 耗时 |
|---|---|---|---|---|---|
| src/lib.rs | unit | 175 | 0 | 0 | 0.02 s |
| src/bin/legacy-to-modern.rs | unit | 9 | 0 | 0 | 0.00 s |
| src/main.rs | unit | 0 | 0 | 0 | 0.00 s |
| src/bin/visualize/main.rs | unit | 47 | 0 | 0 | 0.00 s |
| tests/dynamic_obstacles.rs | integration | 3 | 0 | 0 | 0.00 s |
| tests/golden.rs | integration | 10 | 0 | 1 | 0.03 s |
| tests/sweep.rs | integration | 7 | 0 | 1 | 0.00 s |
| tests/xval.rs | integration | 5 | 0 | 1 | 0.00 s |
| smart_pather | doc | 2 | 0 | 0 | 0.00 s |
被忽略的测试
它们没有运行，所以既不通过也不失败。理由与出处照抄源码里的 #[ignore]。
regenerate_baseline
tests/golden.rs —— regenerates the checked-in baseline; run deliberately and review the diffevery_answer_over_the_corpus_is_valid
tests/sweep.rs —— needs the converted corpus; see the module docscross_validate_against_the_reference
tests/xval.rs —— needs the converted corpus and a built C++ reference; see the module docs
语料抽样
整语料 sweep
这次没有跑整语料扫描，所以这一页只有抽样。`scripts/visualize.sh --full` 会连它一起跑并记在这里（大约 7 分钟）。
按实例族的结论
每一行是一个实例族，长度是抽到的实例数。「solved and verified」取的是扫描测试的口径：独立校验器接受了答案；其中没放完全部智能体的那些单独列在下面。
solved and verifiedINVALID ANSWERcould not run
表格视图
| 实例族 | solved and verified | 其中未解完 | INVALID ANSWER | could not run |
|---|---|---|---|---|
| 32x32 | 121 | 3 | 0 | 0 |
| Instances | 82 | 0 | 0 | 0 |
| Warehouse | 97 | 0 | 0 | 0 |
实例规模与求解耗时
每个点是一个实例。纵轴取对数，因为耗时跨了三个数量级；具体数值在悬停提示与下面的表格里。
32x32InstancesWarehouse
表格视图（全部 300 个实例）
| 实例 | 族 | agents | 求解耗时 | flowtime | makespan | 结论 |
|---|---|---|---|---|---|---|
| 32x32/128/0.xml | 32x32 | 128 | 173 ms | 2820.95 | 44.955 | solved and verified |
| 32x32/128/116.xml | 32x32 | 128 | 189 ms | 2573.14 | 40.946 | solved and verified |
| 32x32/128/135.xml | 32x32 | 128 | 190 ms | 2655.763 | 38.785 | solved and verified |
| 32x32/128/153.xml | 32x32 | 128 | 219 ms | 2884.673 | 41.061 | solved and verified |
| 32x32/128/172.xml | 32x32 | 128 | 236 ms | 2762.328 | 42.825 | solved and verified |
| 32x32/128/191.xml | 32x32 | 128 | 218 ms | 2695.467 | 41.539 | solved and verified |
| 32x32/128/209.xml | 32x32 | 128 | 194 ms | 2680.473 | 34.07 | solved and verified |
| 32x32/128/228.xml | 32x32 | 128 | 39 ms | 748.304 | 31.227 | solved and verified |
| 32x32/128/247.xml | 32x32 | 128 | 159 ms | 2327.062 | 37.202 | solved and verified |
| 32x32/128/265.xml | 32x32 | 128 | 142 ms | 2704.859 | 34.872 | solved and verified |
| 32x32/128/284.xml | 32x32 | 128 | 126 ms | 2642.392 | 38.997 | solved and verified |
| 32x32/128/302.xml | 32x32 | 128 | 199 ms | 2605.623 | 39.879 | solved and verified |
| 32x32/128/320.xml | 32x32 | 128 | 171 ms | 2742.208 | 38.01 | solved and verified |
| 32x32/128/34.xml | 32x32 | 128 | 219 ms | 2849.769 | 42.566 | solved and verified |
| 32x32/128/359.xml | 32x32 | 128 | 302 ms | 2988.47 | 44.005 | solved and verified |
| 32x32/128/377.xml | 32x32 | 128 | 215 ms | 2774.91 | 36.198 | solved and verified |
| 32x32/128/396.xml | 32x32 | 128 | 168 ms | 2725.05 | 33.959 | solved and verified |
| 32x32/128/414.xml | 32x32 | 128 | 168 ms | 2621.848 | 40.814 | solved and verified |
| 32x32/128/432.xml | 32x32 | 128 | 257 ms | 2858.083 | 38.265 | solved and verified |
| 32x32/128/451.xml | 32x32 | 128 | 118 ms | 1572.644 | 38.02 | solved and verified |
| 32x32/128/470.xml | 32x32 | 128 | 181 ms | 2487.451 | 33.661 | solved and verified |
| 32x32/128/489.xml | 32x32 | 128 | 166 ms | 2656.057 | 36.071 | solved and verified |
| 32x32/128/58.xml | 32x32 | 128 | 266 ms | 2885.698 | 37.015 | solved and verified |
| 32x32/128/77.xml | 32x32 | 128 | 326 ms | 2837.72 | 44.597 | solved and verified |
| 32x32/128/95.xml | 32x32 | 128 | 316 ms | 2688.787 | 41.028 | solved and verified |
| 32x32/32/112.xml | 32x32 | 32 | 6 ms | 482.366 | 28.28 | solved and verified |
| 32x32/32/131.xml | 32x32 | 32 | 14 ms | 611.223 | 30.054 | solved and verified |
| 32x32/32/15.xml | 32x32 | 32 | 17 ms | 609.6 | 30.416 | solved and verified |
| 32x32/32/169.xml | 32x32 | 32 | 10 ms | 572.589 | 34.983 | solved and verified |
| 32x32/32/188.xml | 32x32 | 32 | 8 ms | 549.913 | 33.192 | solved and verified |
| 32x32/32/205.xml | 32x32 | 32 | 10 ms | 526.588 | 31.271 | solved and verified |
| 32x32/32/224.xml | 32x32 | 32 | 12 ms | 589.592 | 27.342 | solved and verified |
| 32x32/32/243.xml | 32x32 | 32 | 13 ms | 559.668 | 31.932 | solved and verified |
| 32x32/32/261.xml | 32x32 | 32 | 9 ms | 538.962 | 27.838 | solved and verified |
| 32x32/32/280.xml | 32x32 | 32 | 9 ms | 513.337 | 34.451 | solved and verified |
| 32x32/32/3.xml | 32x32 | 32 | 13 ms | 628.461 | 29.698 | solved and verified |
| 32x32/32/317.xml | 32x32 | 32 | 11 ms | 578.532 | 32.473 | solved and verified |
| 32x32/32/336.xml | 32x32 | 32 | 34 ms | 577.614 | 30.491 | solved and verified |
| 32x32/32/355.xml | 32x32 | 32 | 12 ms | 549.128 | 30.232 | solved and verified |
| 32x32/32/373.xml | 32x32 | 32 | 20 ms | 541.779 | 31.765 | solved and verified |
| 32x32/32/392.xml | 32x32 | 32 | 15 ms | 552.499 | 37.898 | solved and verified |
| 32x32/32/410.xml | 32x32 | 32 | 64 ms | 545.501 | 35.756 | solved and verified |
| 32x32/32/429.xml | 32x32 | 32 | 10 ms | 498.035 | 37.48 | solved and verified |
| 32x32/32/448.xml | 32x32 | 32 | 8 ms | 571.081 | 32.909 | solved and verified |
| 32x32/32/467.xml | 32x32 | 32 | 44 ms | 666.554 | 36.61 | solved and verified |
| 32x32/32/485.xml | 32x32 | 32 | 13 ms | 580.171 | 30.428 | solved and verified |
| 32x32/32/54.xml | 32x32 | 32 | 13 ms | 586.776 | 31.262 | solved and verified |
| 32x32/32/73.xml | 32x32 | 32 | 10 ms | 510.253 | 33.287 | solved and verified |
| 32x32/32/91.xml | 32x32 | 32 | 28 ms | 691.906 | 37.664 | solved and verified |
| 32x32/48/109.xml | 32x32 | 48 | 40 ms | 820.12 | 35.986 | solved and verified |
| 32x32/48/128.xml | 32x32 | 48 | 56 ms | 795.726 | 37.313 | solved and verified |
| 32x32/48/146.xml | 32x32 | 48 | 49 ms | 878.595 | 32.731 | solved and verified |
| 32x32/48/165.xml | 32x32 | 48 | 36 ms | 915.953 | 31.718 | solved and verified |
| 32x32/48/184.xml | 32x32 | 48 | 25 ms | 833.748 | 37.268 | solved and verified |
| 32x32/48/201.xml | 32x32 | 48 | 18 ms | 784.285 | 31.666 | solved and verified |
| 32x32/48/220.xml | 32x32 | 48 | 115 ms | 932.445 | 33.699 | solved and verified |
| 32x32/48/24.xml | 32x32 | 48 | 63 ms | 914.836 | 37.19 | solved and verified |
| 32x32/48/258.xml | 32x32 | 48 | 72 ms | 910 | 38.949 | solved and verified |
| 32x32/48/277.xml | 32x32 | 48 | 99 ms | 847.252 | 41.539 | solved and verified |
| 32x32/48/296.xml | 32x32 | 48 | 49 ms | 977.757 | 30.32 | solved and verified |
| 32x32/48/313.xml | 32x32 | 48 | 90 ms | 914.805 | 31.925 | solved and verified |
| 32x32/48/332.xml | 32x32 | 48 | 27 ms | 815.284 | 28.302 | solved and verified |
| 32x32/48/350.xml | 32x32 | 48 | 97 ms | 1040.329 | 36.295 | solved and verified |
| 32x32/48/37.xml | 32x32 | 48 | 35 ms | 869.087 | 32.861 | solved and verified |
| 32x32/48/389.xml | 32x32 | 48 | 83 ms | 849.427 | 37.345 | solved and verified |
| 32x32/48/406.xml | 32x32 | 48 | 52 ms | 865.586 | 31.635 | solved and verified |
| 32x32/48/425.xml | 32x32 | 48 | 47 ms | 853.176 | 39.774 | solved and verified |
| 32x32/48/444.xml | 32x32 | 48 | 22 ms | 826.419 | 29.56 | solved and verified |
| 32x32/48/462.xml | 32x32 | 48 | 29 ms | 846.691 | 32.21 | solved and verified |
| 32x32/48/481.xml | 32x32 | 48 | 31 ms | 891.084 | 33.99 | solved and verified |
| 32x32/48/50.xml | 32x32 | 48 | 54 ms | 877.479 | 35.694 | solved and verified |
| 32x32/48/69.xml | 32x32 | 48 | 62 ms | 920.084 | 32.089 | solved and verified |
| 32x32/48/88.xml | 32x32 | 48 | 35 ms | 833.027 | 36.879 | solved and verified |
| 32x32/64/105.xml | 32x32 | 64 | 70 ms | 1195.413 | 30.035 | solved and verified |
| 32x32/64/123.xml | 32x32 | 64 | 49 ms | 1149.413 | 33.608 | solved and verified |
| 32x32/64/142.xml | 32x32 | 64 | 54 ms | 1179.99 | 40.794 | solved and verified |
| 32x32/64/161.xml | 32x32 | 64 | 75 ms | 1193.213 | 34.191 | solved and verified |
| 32x32/64/18.xml | 32x32 | 64 | 81 ms | 1214.109 | 31.064 | solved and verified |
| 32x32/64/199.xml | 32x32 | 64 | 52 ms | 1277.895 | 32.833 | solved and verified |
| 32x32/64/217.xml | 32x32 | 64 | 84 ms | 1221.955 | 39.759 | solved and verified |
| 32x32/64/235.xml | 32x32 | 64 | 75 ms | 1275.553 | 31.51 | solved and verified |
| 32x32/64/254.xml | 32x32 | 64 | 71 ms | 1180.015 | 31.797 | solved and verified |
| 32x32/64/273.xml | 32x32 | 64 | 44 ms | 1127.821 | 29.728 | solved and verified |
| 32x32/64/291.xml | 32x32 | 64 | 95 ms | 1290.473 | 36.753 | solved and verified |
| 32x32/64/31.xml | 32x32 | 64 | 94 ms | 1326.278 | 34.169 | solved and verified |
| 32x32/64/329.xml | 32x32 | 64 | 67 ms | 1257.664 | 33.166 | solved and verified |
| 32x32/64/347.xml | 32x32 | 64 | 71 ms | 1177.658 | 37.189 | solved and verified |
| 32x32/64/366.xml | 32x32 | 64 | 48 ms | 1106.261 | 35.771 | solved and verified |
| 32x32/64/385.xml | 32x32 | 64 | 52 ms | 1101.565 | 34.631 | solved and verified |
| 32x32/64/402.xml | 32x32 | 64 | 59 ms | 1210.001 | 33.784 | solved and verified |
| 32x32/64/421.xml | 32x32 | 64 | 64 ms | 1177.109 | 40.031 | solved and verified |
| 32x32/64/440.xml | 32x32 | 64 | 56 ms | 1190.275 | 32.856 | solved and verified |
| 32x32/64/459.xml | 32x32 | 64 | 41 ms | 1217.431 | 30.965 | solved and verified |
| 32x32/64/478.xml | 32x32 | 64 | 53 ms | 1241.634 | 31.096 | solved and verified |
| 32x32/64/497.xml | 32x32 | 64 | 40 ms | 1108.097 | 31.229 | solved and verified |
| 32x32/64/65.xml | 32x32 | 64 | 60 ms | 1358.462 | 39.648 | solved and verified |
| 32x32/64/84.xml | 32x32 | 64 | 55 ms | 1252.511 | 33.174 | solved and verified |
| 32x32/96/101.xml | 32x32 | 96 | 122 ms | 1996.788 | 34.766 | solved and verified |
| 32x32/96/12.xml | 32x32 | 96 | 100 ms | 1919.193 | 35.558 | solved and verified |
| 32x32/96/139.xml | 32x32 | 96 | 157 ms | 1900.669 | 41.189 | solved and verified |
| 32x32/96/158.xml | 32x32 | 96 | 107 ms | 1980.192 | 41.656 | solved and verified |
| 32x32/96/176.xml | 32x32 | 96 | 111 ms | 1930.333 | 38.998 | solved and verified |
| 32x32/96/195.xml | 32x32 | 96 | 126 ms | 1979.458 | 35.983 | solved and verified |
| 32x32/96/213.xml | 32x32 | 96 | 101 ms | 1883.844 | 36.81 | solved and verified |
| 32x32/96/231.xml | 32x32 | 96 | 118 ms | 1892.756 | 34.072 | solved and verified |
| 32x32/96/250.xml | 32x32 | 96 | 114 ms | 1938.23 | 35.512 | solved and verified |
| 32x32/96/27.xml | 32x32 | 96 | 64 ms | 1678.535 | 34.837 | solved and verified |
| 32x32/96/288.xml | 32x32 | 96 | 124 ms | 2010.562 | 35.855 | solved and verified |
| 32x32/96/306.xml | 32x32 | 96 | 129 ms | 2046.069 | 38.294 | solved and verified |
| 32x32/96/325.xml | 32x32 | 96 | 132 ms | 1992.035 | 39.002 | solved and verified |
| 32x32/96/343.xml | 32x32 | 96 | 134 ms | 1901.232 | 34.989 | solved and verified |
| 32x32/96/362.xml | 32x32 | 96 | 153 ms | 2148.117 | 36.101 | solved and verified |
| 32x32/96/381.xml | 32x32 | 96 | 135 ms | 1916.572 | 36.949 | solved and verified |
| 32x32/96/4.xml | 32x32 | 96 | 72 ms | 1870.369 | 37.938 | solved and verified |
| 32x32/96/418.xml | 32x32 | 96 | 146 ms | 1928.225 | 41.161 | solved and verified |
| 32x32/96/437.xml | 32x32 | 96 | 91 ms | 1852.979 | 32.427 | solved and verified |
| 32x32/96/455.xml | 32x32 | 96 | 147 ms | 1973.821 | 33.559 | solved and verified |
| 32x32/96/474.xml | 32x32 | 96 | 145 ms | 2016.282 | 40.493 | solved and verified |
| 32x32/96/493.xml | 32x32 | 96 | 137 ms | 1939.88 | 36.374 | solved and verified |
| 32x32/96/61.xml | 32x32 | 96 | 125 ms | 1846.545 | 32.774 | solved and verified |
| 32x32/96/80.xml | 32x32 | 96 | 164 ms | 2122.725 | 35.432 | solved and verified |
| Instances/64x64/xml/64x64-100-0.xml | Instances | 100 | 415 ms | 3843.664 | 77.35 | solved and verified |
| Instances/64x64/xml/64x64-100-27.xml | Instances | 100 | 514 ms | 3821.518 | 70.295 | solved and verified |
| Instances/64x64/xml/64x64-100-46.xml | Instances | 100 | 342 ms | 3648.734 | 69.472 | solved and verified |
| Instances/64x64/xml/64x64-100-65.xml | Instances | 100 | 511 ms | 3855.897 | 76.837 | solved and verified |
| Instances/64x64/xml/64x64-100-83.xml | Instances | 100 | 461 ms | 3866.969 | 79.223 | solved and verified |
| Instances/64x64/xml/64x64-150-11.xml | Instances | 150 | 1.0 s | 6128.073 | 74.276 | solved and verified |
| Instances/64x64/xml/64x64-150-30.xml | Instances | 150 | 873 ms | 5837.018 | 72.017 | solved and verified |
| Instances/64x64/xml/64x64-150-5.xml | Instances | 150 | 706 ms | 5566.431 | 71.614 | solved and verified |
| Instances/64x64/xml/64x64-150-68.xml | Instances | 150 | 705 ms | 5359.151 | 71.074 | solved and verified |
| Instances/64x64/xml/64x64-150-87.xml | Instances | 150 | 817 ms | 5635.19 | 64.696 | solved and verified |
| Instances/64x64/xml/64x64-200-15.xml | Instances | 200 | 1.3 s | 8180.903 | 82.875 | solved and verified |
| Instances/64x64/xml/64x64-200-34.xml | Instances | 200 | 1.4 s | 8104.48 | 82.073 | solved and verified |
| Instances/64x64/xml/64x64-200-52.xml | Instances | 200 | 1.5 s | 8332.462 | 74.609 | solved and verified |
| Instances/64x64/xml/64x64-200-71.xml | Instances | 200 | 1.3 s | 7930.189 | 73.705 | solved and verified |
| Instances/64x64/xml/64x64-200-90.xml | Instances | 200 | 1.4 s | 7938.68 | 74.343 | solved and verified |
| Instances/64x64/xml/64x64-250-18.xml | Instances | 250 | 1.7 s | 10035.974 | 78.396 | solved and verified |
| Instances/64x64/xml/64x64-250-37.xml | Instances | 250 | 2.0 s | 10482.348 | 75.875 | solved and verified |
| Instances/64x64/xml/64x64-250-56.xml | Instances | 250 | 2.0 s | 10219.505 | 73.831 | solved and verified |
| Instances/64x64/xml/64x64-250-75.xml | Instances | 250 | 2.1 s | 10094.966 | 82.767 | solved and verified |
| Instances/64x64/xml/64x64-250-93.xml | Instances | 250 | 2.4 s | 10565.393 | 77.108 | solved and verified |
| Instances/64x64/xml/64x64-50-21.xml | Instances | 50 | 156 ms | 1836.875 | 75.426 | solved and verified |
| Instances/64x64/xml/64x64-50-40.xml | Instances | 50 | 115 ms | 1632.8 | 77.18 | solved and verified |
| Instances/64x64/xml/64x64-50-6.xml | Instances | 50 | 136 ms | 1943.321 | 78.091 | solved and verified |
| Instances/64x64/xml/64x64-50-78.xml | Instances | 50 | 185 ms | 1800.195 | 75.69 | solved and verified |
| Instances/64x64/xml/64x64-50-97.xml | Instances | 50 | 136 ms | 1785.556 | 63.514 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-100-25.xml | Instances | 100 | 2.3 s | 11639.034 | 312.593 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-100-44.xml | Instances | 100 | 2.6 s | 11010.43 | 399.567 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-100-62.xml | Instances | 100 | 2.2 s | 10900.774 | 368.408 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-100-81.xml | Instances | 100 | 2.4 s | 11654.564 | 414.263 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-25-1.xml | Instances | 25 | 342 ms | 2227.473 | 258.531 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-25-28.xml | Instances | 25 | 752 ms | 3029.08 | 367.031 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-25-47.xml | Instances | 25 | 440 ms | 2860.416 | 248.58 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-25-66.xml | Instances | 25 | 499 ms | 3042.44 | 243.123 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-25-85.xml | Instances | 25 | 519 ms | 2795.967 | 366.032 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-50-12.xml | Instances | 50 | 1.4 s | 6126.9 | 347.511 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-50-31.xml | Instances | 50 | 854 ms | 4864.677 | 279.732 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-50-50.xml | Instances | 50 | 980 ms | 4888.24 | 372.888 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-50-7.xml | Instances | 50 | 1.3 s | 5907.862 | 351.716 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-50-88.xml | Instances | 50 | 1.4 s | 6374.683 | 396.25 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-75-16.xml | Instances | 75 | 1.9 s | 9310.827 | 309.414 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-75-35.xml | Instances | 75 | 2.0 s | 8914.521 | 447.397 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-75-54.xml | Instances | 75 | 2.0 s | 8921.768 | 348.359 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-75-72.xml | Instances | 75 | 1.9 s | 8583.638 | 337.22 | solved and verified |
| Instances/DAO_maps/xml/brc202d/brc202d-75-91.xml | Instances | 75 | 1.9 s | 9498.236 | 340.294 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-100-2.xml | Instances | 100 | 6.7 s | 12206.053 | 288.989 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-100-38.xml | Instances | 100 | 4.5 s | 11598.997 | 270.056 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-100-57.xml | Instances | 100 | 4.6 s | 11147.518 | 269.775 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-100-76.xml | Instances | 100 | 4.4 s | 11076.578 | 255.948 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-100-95.xml | Instances | 100 | 4.5 s | 10984.483 | 244.465 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-25-22.xml | Instances | 25 | 597 ms | 2295.553 | 224.621 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-25-41.xml | Instances | 25 | 999 ms | 2944.072 | 263.15 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-25-60.xml | Instances | 25 | 763 ms | 2855.2 | 224.086 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-25-8.xml | Instances | 25 | 2.1 s | 3737.182 | 271.651 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-25-98.xml | Instances | 25 | 1.5 s | 3311.056 | 324.84 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-50-26.xml | Instances | 50 | 2.3 s | 5592.962 | 212.094 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-50-45.xml | Instances | 50 | 1.7 s | 5198.375 | 222.973 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-50-63.xml | Instances | 50 | 2.0 s | 5558.973 | 238.517 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-50-82.xml | Instances | 50 | 1.8 s | 5864.017 | 248.565 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-75-10.xml | Instances | 75 | 2.5 s | 8388.469 | 254.773 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-75-3.xml | Instances | 75 | 3.6 s | 9240.233 | 265.949 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-75-48.xml | Instances | 75 | 2.8 s | 8228.944 | 245.601 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-75-67.xml | Instances | 75 | 3.1 s | 8904.107 | 292.132 | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-75-86.xml | Instances | 75 | 3.8 s | 9748.887 | 262.875 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-100-14.xml | Instances | 100 | 2.7 s | 9006.126 | 234.694 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-100-32.xml | Instances | 100 | 2.4 s | 9200.789 | 223.411 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-100-51.xml | Instances | 100 | 1.8 s | 8238.343 | 257.616 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-100-70.xml | Instances | 100 | 3.3 s | 9616.73 | 259.358 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-100-9.xml | Instances | 100 | 3.0 s | 9263.441 | 231.056 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-25-17.xml | Instances | 25 | 340 ms | 2005.988 | 223.941 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-25-36.xml | Instances | 25 | 653 ms | 2645.552 | 192.01 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-25-55.xml | Instances | 25 | 348 ms | 2113.9 | 253.794 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-25-73.xml | Instances | 25 | 435 ms | 1886.063 | 203.739 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-25-92.xml | Instances | 25 | 630 ms | 2617.425 | 234.409 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-50-20.xml | Instances | 50 | 892 ms | 4118.419 | 225.559 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-50-4.xml | Instances | 50 | 1.5 s | 5186.665 | 244.66 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-50-58.xml | Instances | 50 | 1.4 s | 4751.377 | 270.701 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-50-77.xml | Instances | 50 | 1.0 s | 4416.37 | 256.419 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-50-96.xml | Instances | 50 | 1.6 s | 4983.065 | 222.272 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-75-24.xml | Instances | 75 | 2.0 s | 7533.721 | 271.261 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-75-42.xml | Instances | 75 | 2.3 s | 7253.74 | 280.773 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-75-61.xml | Instances | 75 | 2.0 s | 7786.581 | 235.679 | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-75-80.xml | Instances | 75 | 1.5 s | 7134.128 | 239.882 | solved and verified |
| Warehouse/16/0.xml | Warehouse | 16 | 5 ms | 271.215 | 33.441 | solved and verified |
| Warehouse/16/116.xml | Warehouse | 16 | 3 ms | 271.394 | 30.616 | solved and verified |
| Warehouse/16/135.xml | Warehouse | 16 | 7 ms | 327.617 | 30.727 | solved and verified |
| Warehouse/16/153.xml | Warehouse | 16 | 3 ms | 278.759 | 27.357 | solved and verified |
| Warehouse/16/172.xml | Warehouse | 16 | 5 ms | 336.132 | 35.319 | solved and verified |
| Warehouse/16/191.xml | Warehouse | 16 | 5 ms | 297.823 | 33.111 | solved and verified |
| Warehouse/16/209.xml | Warehouse | 16 | 5 ms | 287.033 | 27.074 | solved and verified |
| Warehouse/16/228.xml | Warehouse | 16 | 20 ms | 323.385 | 40.51 | solved and verified |
| Warehouse/16/246.xml | Warehouse | 16 | 12 ms | 283.654 | 28.777 | solved and verified |
| Warehouse/16/265.xml | Warehouse | 16 | 3 ms | 271.719 | 34.312 | solved and verified |
| Warehouse/16/284.xml | Warehouse | 16 | 9 ms | 336.583 | 32.071 | solved and verified |
| Warehouse/16/301.xml | Warehouse | 16 | 4 ms | 292.063 | 35.85 | solved and verified |
| Warehouse/16/320.xml | Warehouse | 16 | 5 ms | 317.209 | 39.682 | solved and verified |
| Warehouse/16/34.xml | Warehouse | 16 | 8 ms | 249.173 | 33.159 | solved and verified |
| Warehouse/16/358.xml | Warehouse | 16 | 9 ms | 337.126 | 40.56 | solved and verified |
| Warehouse/16/377.xml | Warehouse | 16 | 7 ms | 300.567 | 28.79 | solved and verified |
| Warehouse/16/395.xml | Warehouse | 16 | 6 ms | 281.477 | 28.443 | solved and verified |
| Warehouse/16/413.xml | Warehouse | 16 | 3 ms | 252.965 | 29.283 | solved and verified |
| Warehouse/16/432.xml | Warehouse | 16 | 8 ms | 321.053 | 39.682 | solved and verified |
| Warehouse/16/450.xml | Warehouse | 16 | 10 ms | 332.853 | 33.004 | solved and verified |
| Warehouse/16/47.xml | Warehouse | 16 | 2 ms | 235.123 | 28.491 | solved and verified |
| Warehouse/16/488.xml | Warehouse | 16 | 6 ms | 312.62 | 34.554 | solved and verified |
| Warehouse/16/57.xml | Warehouse | 16 | 5 ms | 322.753 | 33.727 | solved and verified |
| Warehouse/16/76.xml | Warehouse | 16 | 4 ms | 260.409 | 31.582 | solved and verified |
| Warehouse/16/94.xml | Warehouse | 16 | 10 ms | 311.15 | 37.209 | solved and verified |
| Warehouse/32/111.xml | Warehouse | 32 | 13 ms | 684.156 | 39.228 | solved and verified |
| Warehouse/32/130.xml | Warehouse | 32 | 11 ms | 613.151 | 34.248 | solved and verified |
| Warehouse/32/149.xml | Warehouse | 32 | 11 ms | 619.197 | 36.458 | solved and verified |
| Warehouse/32/168.xml | Warehouse | 32 | 10 ms | 626.318 | 31.38 | solved and verified |
| Warehouse/32/186.xml | Warehouse | 32 | 20 ms | 696.03 | 35.126 | solved and verified |
| Warehouse/32/204.xml | Warehouse | 32 | 10 ms | 553.616 | 35.791 | solved and verified |
| Warehouse/32/223.xml | Warehouse | 32 | 11 ms | 638.499 | 35.406 | solved and verified |
| Warehouse/32/241.xml | Warehouse | 32 | 16 ms | 659.32 | 41.169 | solved and verified |
| Warehouse/32/260.xml | Warehouse | 32 | 20 ms | 623.659 | 37.546 | solved and verified |
| Warehouse/32/28.xml | Warehouse | 32 | 7 ms | 504.983 | 28.491 | solved and verified |
| Warehouse/32/298.xml | Warehouse | 32 | 9 ms | 554.941 | 35.659 | solved and verified |
| Warehouse/32/316.xml | Warehouse | 32 | 22 ms | 733.034 | 35.189 | solved and verified |
| Warehouse/32/334.xml | Warehouse | 32 | 17 ms | 699.678 | 40.844 | solved and verified |
| Warehouse/32/353.xml | Warehouse | 32 | 37 ms | 666.2 | 42.742 | solved and verified |
| Warehouse/32/372.xml | Warehouse | 32 | 11 ms | 649.807 | 38.546 | solved and verified |
| Warehouse/32/390.xml | Warehouse | 32 | 10 ms | 649.635 | 32.506 | solved and verified |
| Warehouse/32/409.xml | Warehouse | 32 | 16 ms | 663.434 | 35.111 | solved and verified |
| Warehouse/32/427.xml | Warehouse | 32 | 24 ms | 642.743 | 41.719 | solved and verified |
| Warehouse/32/446.xml | Warehouse | 32 | 12 ms | 608.881 | 38.282 | solved and verified |
| Warehouse/32/465.xml | Warehouse | 32 | 16 ms | 643.175 | 35.74 | solved and verified |
| Warehouse/32/483.xml | Warehouse | 32 | 8 ms | 580.991 | 36.801 | solved and verified |
| Warehouse/32/52.xml | Warehouse | 32 | 46 ms | 716.941 | 36.913 | solved and verified |
| Warehouse/32/71.xml | Warehouse | 32 | 37 ms | 585.737 | 37.708 | solved and verified |
| Warehouse/32/9.xml | Warehouse | 32 | 19 ms | 654.066 | 30.749 | solved and verified |
| Warehouse/48/107.xml | Warehouse | 48 | 49 ms | 1088.876 | 43.62 | solved and verified |
| Warehouse/48/125.xml | Warehouse | 48 | 21 ms | 975.236 | 37.963 | solved and verified |
| Warehouse/48/144.xml | Warehouse | 48 | 54 ms | 994.346 | 35.544 | solved and verified |
| Warehouse/48/163.xml | Warehouse | 48 | 26 ms | 1036.493 | 43.05 | solved and verified |
| Warehouse/48/181.xml | Warehouse | 48 | 71 ms | 1134.912 | 40.902 | solved and verified |
| Warehouse/48/20.xml | Warehouse | 48 | 18 ms | 1013.715 | 36.876 | solved and verified |
| Warehouse/48/219.xml | Warehouse | 48 | 30 ms | 999.814 | 42.105 | solved and verified |
| Warehouse/48/237.xml | Warehouse | 48 | 58 ms | 1057.933 | 38.455 | solved and verified |
| Warehouse/48/256.xml | Warehouse | 48 | 35 ms | 1056.889 | 33.77 | solved and verified |
| Warehouse/48/274.xml | Warehouse | 48 | 44 ms | 1056.338 | 38.718 | solved and verified |
| Warehouse/48/293.xml | Warehouse | 48 | 33 ms | 921.276 | 38.046 | solved and verified |
| Warehouse/48/311.xml | Warehouse | 48 | 190 ms | 1086.584 | 39.273 | solved and verified |
| Warehouse/48/33.xml | Warehouse | 48 | 119 ms | 1058.511 | 36.913 | solved and verified |
| Warehouse/48/349.xml | Warehouse | 48 | 184 ms | 1001.736 | 44.137 | solved and verified |
| Warehouse/48/367.xml | Warehouse | 48 | 175 ms | 1021.187 | 42.772 | solved and verified |
| Warehouse/48/386.xml | Warehouse | 48 | 95 ms | 1034.349 | 38.081 | solved and verified |
| Warehouse/48/404.xml | Warehouse | 48 | 31 ms | 1061.075 | 40.013 | solved and verified |
| Warehouse/48/422.xml | Warehouse | 48 | 31 ms | 1036.539 | 42.644 | solved and verified |
| Warehouse/48/441.xml | Warehouse | 48 | 29 ms | 949.809 | 38.647 | solved and verified |
| Warehouse/48/460.xml | Warehouse | 48 | 22 ms | 910.924 | 42.982 | solved and verified |
| Warehouse/48/479.xml | Warehouse | 48 | 28 ms | 1055.679 | 37.805 | solved and verified |
| Warehouse/48/498.xml | Warehouse | 48 | 48 ms | 1024.954 | 37.307 | solved and verified |
| Warehouse/48/66.xml | Warehouse | 48 | 43 ms | 1104.404 | 41.834 | solved and verified |
| Warehouse/48/85.xml | Warehouse | 48 | 39 ms | 1010.066 | 35.527 | solved and verified |
| Warehouse/64/102.xml | Warehouse | 64 | 76 ms | 1466.228 | 40.59 | solved and verified |
| Warehouse/64/120.xml | Warehouse | 64 | 63 ms | 1353.047 | 43.282 | solved and verified |
| Warehouse/64/14.xml | Warehouse | 64 | 52 ms | 1240.846 | 34.988 | solved and verified |
| Warehouse/64/159.xml | Warehouse | 64 | 42 ms | 1414.069 | 41.368 | solved and verified |
| Warehouse/64/177.xml | Warehouse | 64 | 41 ms | 1237.878 | 37.608 | solved and verified |
| Warehouse/64/196.xml | Warehouse | 64 | 55 ms | 1307.802 | 37.62 | solved and verified |
| Warehouse/64/213.xml | Warehouse | 64 | 74 ms | 1385.308 | 45.923 | solved and verified |
| Warehouse/64/232.xml | Warehouse | 64 | 72 ms | 1408.222 | 39.3 | solved and verified |
| Warehouse/64/251.xml | Warehouse | 64 | 53 ms | 1465.64 | 42.138 | solved and verified |
| Warehouse/64/27.xml | Warehouse | 64 | 72 ms | 1499.292 | 41.432 | solved and verified |
| Warehouse/64/289.xml | Warehouse | 64 | 59 ms | 1460.398 | 37.607 | solved and verified |
| Warehouse/64/306.xml | Warehouse | 64 | 97 ms | 1549.349 | 43.612 | solved and verified |
| Warehouse/64/325.xml | Warehouse | 64 | 71 ms | 1545.174 | 41.9 | solved and verified |
| Warehouse/64/344.xml | Warehouse | 64 | 66 ms | 1293.66 | 39.889 | solved and verified |
| Warehouse/64/362.xml | Warehouse | 64 | 66 ms | 1600.983 | 39.311 | solved and verified |
| Warehouse/64/381.xml | Warehouse | 64 | 54 ms | 1281.821 | 41.315 | solved and verified |
| Warehouse/64/40.xml | Warehouse | 64 | 49 ms | 1355.483 | 41.841 | solved and verified |
| Warehouse/64/418.xml | Warehouse | 64 | 34 ms | 1243.839 | 36.681 | solved and verified |
| Warehouse/64/437.xml | Warehouse | 64 | 55 ms | 1196.417 | 40.647 | solved and verified |
| Warehouse/64/455.xml | Warehouse | 64 | 97 ms | 1504.234 | 40.134 | solved and verified |
| Warehouse/64/474.xml | Warehouse | 64 | 73 ms | 1462.011 | 47.605 | solved and verified |
| Warehouse/64/493.xml | Warehouse | 64 | 77 ms | 1419.654 | 41.259 | solved and verified |
| Warehouse/64/61.xml | Warehouse | 64 | 80 ms | 1550.05 | 38.18 | solved and verified |
| Warehouse/64/80.xml | Warehouse | 64 | 68 ms | 1603.262 | 40.154 | solved and verified |
单实例耗时分布
16 个对数间隔的分箱，柱高是落在该区间的实例数。
表格视图
| 耗时区间 | 实例数 |
|---|---|
| 2 ms – 4 ms | 5 |
| 4 ms – 6 ms | 9 |
| 6 ms – 10 ms | 21 |
| 10 ms – 17 ms | 22 |
| 17 ms – 27 ms | 16 |
| 27 ms – 45 ms | 29 |
| 45 ms – 74 ms | 49 |
| 74 ms – 123 ms | 28 |
| 123 ms – 202 ms | 34 |
| 202 ms – 334 ms | 10 |
| 334 ms – 551 ms | 12 |
| 551 ms – 909 ms | 11 |
| 909 ms – 1.5 s | 14 |
| 1.5 s – 2.5 s | 26 |
| 2.5 s – 4.1 s | 9 |
| 4.1 s – 6.7 s | 5 |
最慢的实例
| 实例 | 族 | agents | 耗时 | 结论 |
|---|---|---|---|---|
| Instances/DAO_maps/xml/den520d/den520d-100-2.xml | Instances | 100 | 6.7 s | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-100-57.xml | Instances | 100 | 4.6 s | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-100-95.xml | Instances | 100 | 4.5 s | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-100-38.xml | Instances | 100 | 4.5 s | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-100-76.xml | Instances | 100 | 4.4 s | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-75-86.xml | Instances | 75 | 3.8 s | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-75-3.xml | Instances | 75 | 3.6 s | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-100-70.xml | Instances | 100 | 3.3 s | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-75-67.xml | Instances | 75 | 3.1 s | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-100-9.xml | Instances | 100 | 3.0 s | solved and verified |
| Instances/DAO_maps/xml/den520d/den520d-75-48.xml | Instances | 75 | 2.8 s | solved and verified |
| Instances/DAO_maps/xml/ost003d/ost003d-100-14.xml | Instances | 100 | 2.7 s | solved and verified |
轨迹动画
实心圆是智能体，圆环是起点，方块是终点，浅色细线是完整路径。深色圆是动态障碍物。每块的循环时长相同，所以块与块之间的快慢不可比，但同一块内部的相对快慢是精确的——等一秒就是等一秒。
obstacle_crossing · 一个智能体等一个扫过整列的动态障碍物
1 agents · 6x6 grid · flowtime 6.708 · makespan 6.708 · 1 dynamic obstacle(s)
all_in_one_example · 七个半径、速度、朝向各异的智能体
7 agents · 70x46 grid · flowtime 924.476 · makespan 274.878 · 3 dynamic obstacle(s)
Instances/64x64/xml/64x64-50-21.xml
50 agents · 64x64 grid · flowtime 1836.875 · makespan 75.426
