Table 2: Behavior periods for each experiment set.

Behavior periods (ms)
SetWAYPOINTLASERAVOIDOCCUPANCYDIJKSTRA
PLANNER (W)OBSTACLES (L)GRIDMAP (Oc)PLANNER (P)

110101010
210010100100
350505050
410050100100
5100100100100