Metrics

• Planning time (not for comparing systems, but for evaluating scalability)
• Success rate, over randomized problem instances
• Plan quality. Here, several options to discuss:
  • symbolic: plan length
  • geometric: plan length (in WS, CS?), safety margins, etc.
• #calls to the motion planner

To begin with, I suggest to limit the quality measure to (i) symbolic plan length and (ii) geometric plan length in the CS.