Planning for Multiple Preferences versus Planning with No Preference

Table 2

A* versus MOA* in Logistics, Gripper, and Sand Castle domains.

	A^∗		M+		M2		M10		MN2		MN10
	T(s)	HV	T(s)	HV	T(s)	HV	T(s)	HV	T(s)	HV	T(s)	HV
Logistics p2-2-2	32.01	0.15	129.00	0.41	98.03	0.16	—	—	54.30	0.28	132.64	0.28
Gripper	1.74	0.87	2.47	0.94	0.73	0.95	3.07	0.95	0.46	0.95	1.00	0.95
Sand Castle	2.33	0.88	0.91	0.89	1.34	0.96	4.79	0.96	1.34	0.96	2.59	0.95