empty 2d domain,dubins car:

measure number of witness neighbourhood expanded after some iterations with the folling parameters:

delta = 0.03
delta_percent_clamp_low = 0.1
delta_percent_clamp_high = 1
delta_s = 0.02
delta_v = 0.04
iterations = 4000

scenario: obs_sparse, isound1

1

baseline + no witness disturbance: (200) done

2

no witness disturbance + frontier node sel: (200) done

3

no witness disturbance + control sel: (200) done

4

no witness disturbance + frontier node sel + control sel: (200) done