Pacman Small Maze

These result are for the small maze pacman problem with 39 arcs. I found that for some ghost positions there was no way for the metaplanner to find a path though the ghosts because it cannot move backwards, whereas ARA* can. For these situations, DTMP always runs into ghosts. I was able to detect this for each run by solving for the optimal path to the goal. If this path exceeded 1000 in cost, then I flagged the data to indicate that no clear path exists. I did not include these cases in the comparision of ARA* and DTMP. In addition there were certain positions where no feasible solution (one where no ghosts were encountered) existed for ARA* nor DTMP. I also did not include these in the comparison. I generated random ghost positions and stored them. I used the same set of ghost positions to test ARA* and DTMP. Final note is that the tree is typically not deep enough to specify good behavior when the situation goes sour. In that case, the old procedure was try to complete the path to goal using our current knowledge of the world. This tended to perform badly since the path completing arcs would tend to correspond to the path with the most arcs already computed. This path was more than likely to be a "bad path". So by doing this the DTMP had no chance of finding a good path. After noticing this i changed the path completing procedure so that arcs that have been discovered to be occupied have a huge cost of 10000, all other known arcs have their known values, and the unknown arcs take on their max values. This discourages the path completing behavior to favor the paths that include occupied arcs, an tended to improve the quality of the plans.