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