Figure 11

Four search initializations. From top left to bottom right, we refer to them as #1 to #4, respectively. The circle with a black dot at its centre indicates the true starting point of the end effector (eof), whilst the triangle with the black dot is the initial believed location of the eof. The initialisation in #1 was chosen such that the true and believed eof location were at opposite sides of the table. This setting was selected to highlight the drawback in methods which do not take into account uncertainty. The second initialisation, #2, reflects the situation where once again their is a large distance between true and believed location of the eof. However, this time, both are right on top of the table. The starting points in #3 are a variant on #1 but with the difference that the believed eof position is above the table whilst the true eof location is not. The last experiment, #4, was a setup which would be favourable to algorithms which are inclined to be greedy; both true and believed eof locations are close to one another.