{
  "benchmark_name": "lightweight_static_2d_rrt_cases",
  "generated_at": "2026-05-26 12:59:32 +0000",
  "config": {
    "seeds": [
      0,
      1,
      2,
      3,
      4,
      5,
      6
    ],
    "algorithms": [
      "RRT",
      "RRT*",
      "RRT-Connect"
    ],
    "collision_resolution": 1.0
  },
  "benchmark_notes": {
    "standard_benchmarks": [
      "OMPL benchmark suite + Planner Arena for planner comparison databases/logs (standard in sampling-based planning research).",
      "MoveIt benchmarking for ROS/MoveIt planning pipelines, commonly backed by OMPL planners.",
      "MotionBenchMaker / motion-planning problem sets for robot motion planning research workloads.",
      "PythonRobotics RRT/RRT*/RRT-Connect examples: educational reference cases rather than a formal benchmark suite."
    ],
    "current_scope": "Dependency-light static 2D geometric tests, suitable for CI/smoke/regression tests rather than publication-grade robotics benchmarking."
  },
  "scenarios": [
    {
      "name": "open_space",
      "width": 100,
      "height": 100,
      "start": [
        5,
        5
      ],
      "goal": [
        95,
        95
      ],
      "obstacles": [
        {
          "x1": 42,
          "y1": 42,
          "x2": 50,
          "y2": 50,
          "label": ""
        },
        {
          "x1": 20,
          "y1": 72,
          "x2": 28,
          "y2": 82,
          "label": ""
        }
      ],
      "step": 4.5,
      "goal_radius": 5.5,
      "max_iter": 1600,
      "description": "Mostly open map with two small sparse rectangular obstacles."
    },
    {
      "name": "narrow_passage",
      "width": 100,
      "height": 100,
      "start": [
        8,
        50
      ],
      "goal": [
        92,
        50
      ],
      "obstacles": [
        {
          "x1": 47,
          "y1": 0,
          "x2": 54,
          "y2": 43,
          "label": ""
        },
        {
          "x1": 47,
          "y1": 57,
          "x2": 54,
          "y2": 100,
          "label": ""
        },
        {
          "x1": 15,
          "y1": 15,
          "x2": 28,
          "y2": 25,
          "label": ""
        },
        {
          "x1": 72,
          "y1": 75,
          "x2": 85,
          "y2": 85,
          "label": ""
        }
      ],
      "step": 4.5,
      "goal_radius": 5.0,
      "max_iter": 3400,
      "description": "Vertical wall with a narrow central gate; tests passage discovery."
    },
    {
      "name": "bug_trap",
      "width": 100,
      "height": 100,
      "start": [
        35,
        50
      ],
      "goal": [
        90,
        50
      ],
      "obstacles": [
        {
          "x1": 55,
          "y1": 20,
          "x2": 61,
          "y2": 80,
          "label": ""
        },
        {
          "x1": 20,
          "y1": 20,
          "x2": 61,
          "y2": 26,
          "label": ""
        },
        {
          "x1": 20,
          "y1": 74,
          "x2": 61,
          "y2": 80,
          "label": ""
        },
        {
          "x1": 72,
          "y1": 0,
          "x2": 78,
          "y2": 42,
          "label": ""
        },
        {
          "x1": 72,
          "y1": 58,
          "x2": 78,
          "y2": 100,
          "label": ""
        }
      ],
      "step": 4.5,
      "goal_radius": 5.0,
      "max_iter": 3800,
      "description": "U-shaped trap opening away from the goal, plus a second gate near the goal side."
    },
    {
      "name": "cluttered",
      "width": 100,
      "height": 100,
      "start": [
        6,
        8
      ],
      "goal": [
        94,
        92
      ],
      "obstacles": [
        {
          "x1": 15,
          "y1": 10,
          "x2": 24,
          "y2": 28,
          "label": ""
        },
        {
          "x1": 35,
          "y1": 6,
          "x2": 44,
          "y2": 22,
          "label": ""
        },
        {
          "x1": 61,
          "y1": 8,
          "x2": 72,
          "y2": 20,
          "label": ""
        },
        {
          "x1": 78,
          "y1": 18,
          "x2": 90,
          "y2": 30,
          "label": ""
        },
        {
          "x1": 8,
          "y1": 38,
          "x2": 20,
          "y2": 50,
          "label": ""
        },
        {
          "x1": 31,
          "y1": 34,
          "x2": 47,
          "y2": 46,
          "label": ""
        },
        {
          "x1": 58,
          "y1": 36,
          "x2": 70,
          "y2": 52,
          "label": ""
        },
        {
          "x1": 82,
          "y1": 44,
          "x2": 94,
          "y2": 58,
          "label": ""
        },
        {
          "x1": 18,
          "y1": 66,
          "x2": 32,
          "y2": 78,
          "label": ""
        },
        {
          "x1": 44,
          "y1": 62,
          "x2": 54,
          "y2": 84,
          "label": ""
        },
        {
          "x1": 68,
          "y1": 68,
          "x2": 80,
          "y2": 88,
          "label": ""
        }
      ],
      "step": 4.5,
      "goal_radius": 5.5,
      "max_iter": 3000,
      "description": "Many rectangles create a cluttered static planning scene."
    },
    {
      "name": "maze",
      "width": 100,
      "height": 100,
      "start": [
        6,
        6
      ],
      "goal": [
        94,
        94
      ],
      "obstacles": [
        {
          "x1": 15,
          "y1": 0,
          "x2": 21,
          "y2": 72,
          "label": ""
        },
        {
          "x1": 32,
          "y1": 28,
          "x2": 38,
          "y2": 100,
          "label": ""
        },
        {
          "x1": 49,
          "y1": 0,
          "x2": 55,
          "y2": 72,
          "label": ""
        },
        {
          "x1": 66,
          "y1": 28,
          "x2": 72,
          "y2": 100,
          "label": ""
        },
        {
          "x1": 83,
          "y1": 0,
          "x2": 89,
          "y2": 72,
          "label": ""
        },
        {
          "x1": 0,
          "y1": 83,
          "x2": 18,
          "y2": 89,
          "label": ""
        },
        {
          "x1": 38,
          "y1": 11,
          "x2": 55,
          "y2": 17,
          "label": ""
        },
        {
          "x1": 72,
          "y1": 83,
          "x2": 90,
          "y2": 89,
          "label": ""
        }
      ],
      "step": 4.5,
      "goal_radius": 5.0,
      "max_iter": 5200,
      "description": "Alternating walls form a simple maze-like corridor with a final right-side exit gap."
    },
    {
      "name": "start_goal_near_obstacle",
      "width": 100,
      "height": 100,
      "start": [
        12,
        12
      ],
      "goal": [
        88,
        88
      ],
      "obstacles": [
        {
          "x1": 14,
          "y1": 4,
          "x2": 24,
          "y2": 22,
          "label": ""
        },
        {
          "x1": 4,
          "y1": 22,
          "x2": 22,
          "y2": 30,
          "label": ""
        },
        {
          "x1": 76,
          "y1": 78,
          "x2": 86,
          "y2": 96,
          "label": ""
        },
        {
          "x1": 78,
          "y1": 70,
          "x2": 96,
          "y2": 78,
          "label": ""
        },
        {
          "x1": 42,
          "y1": 0,
          "x2": 49,
          "y2": 64,
          "label": ""
        },
        {
          "x1": 58,
          "y1": 36,
          "x2": 65,
          "y2": 100,
          "label": ""
        }
      ],
      "step": 4.5,
      "goal_radius": 5.0,
      "max_iter": 3300,
      "description": "Start and goal are close to obstacle corners; tests collision margin behavior."
    },
    {
      "name": "long_distance",
      "width": 150,
      "height": 100,
      "start": [
        5,
        5
      ],
      "goal": [
        145,
        95
      ],
      "obstacles": [
        {
          "x1": 25,
          "y1": 20,
          "x2": 35,
          "y2": 80,
          "label": ""
        },
        {
          "x1": 60,
          "y1": 0,
          "x2": 70,
          "y2": 55,
          "label": ""
        },
        {
          "x1": 92,
          "y1": 45,
          "x2": 102,
          "y2": 100,
          "label": ""
        },
        {
          "x1": 123,
          "y1": 18,
          "x2": 133,
          "y2": 70,
          "label": ""
        }
      ],
      "step": 6.0,
      "goal_radius": 7.0,
      "max_iter": 3600,
      "description": "Longer start-goal distance with sparse barriers over a 150x100 map."
    }
  ],
  "summary": [
    {
      "scenario": "open_space",
      "algorithm": "RRT",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.0026939818635582924,
      "avg_path_length": 128.81522567124043,
      "avg_nodes_or_iterations": 102.14285714285714,
      "avg_iterations": 105.14285714285714,
      "avg_collision_checks": 217.57142857142858,
      "failure_reason_summary": {}
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT*",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.5859095744256463,
      "avg_path_length": 128.2407071518056,
      "avg_nodes_or_iterations": 1600.142857142857,
      "avg_iterations": 1600,
      "avg_collision_checks": 8403.714285714286,
      "failure_reason_summary": {}
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT-Connect",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.0012663772462734155,
      "avg_path_length": 128.12098758789887,
      "avg_nodes_or_iterations": 37,
      "avg_iterations": 7.142857142857143,
      "avg_collision_checks": 69.42857142857143,
      "failure_reason_summary": {}
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.0015171093733182975,
      "avg_path_length": 84.0,
      "avg_nodes_or_iterations": 72.85714285714286,
      "avg_iterations": 75.71428571428571,
      "avg_collision_checks": 157.14285714285714,
      "failure_reason_summary": {}
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT*",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 2.657890273657228,
      "avg_path_length": 84.0,
      "avg_nodes_or_iterations": 3384.714285714286,
      "avg_iterations": 3400,
      "avg_collision_checks": 22437,
      "failure_reason_summary": {}
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT-Connect",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.00038088412423218997,
      "avg_path_length": 84.0,
      "avg_nodes_or_iterations": 20.285714285714285,
      "avg_iterations": 1,
      "avg_collision_checks": 23.571428571428573,
      "failure_reason_summary": {}
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.05889077351561615,
      "avg_path_length": 134.34658415442573,
      "avg_nodes_or_iterations": 517.1428571428571,
      "avg_iterations": 877.4285714285714,
      "avg_collision_checks": 1873.7142857142858,
      "failure_reason_summary": {}
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT*",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 2.776515065692365,
      "avg_path_length": 121.51827527714718,
      "avg_nodes_or_iterations": 3396.714285714286,
      "avg_iterations": 3800,
      "avg_collision_checks": 24227,
      "failure_reason_summary": {}
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT-Connect",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.009071433118411474,
      "avg_path_length": 141.71491131338584,
      "avg_nodes_or_iterations": 148,
      "avg_iterations": 276.7142857142857,
      "avg_collision_checks": 788.5714285714286,
      "failure_reason_summary": {}
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.007099630444177559,
      "avg_path_length": 136.2350731387317,
      "avg_nodes_or_iterations": 121.71428571428571,
      "avg_iterations": 162,
      "avg_collision_checks": 413.14285714285717,
      "failure_reason_summary": {}
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT*",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 2.137627867250038,
      "avg_path_length": 128.44626931343734,
      "avg_nodes_or_iterations": 2945.1428571428573,
      "avg_iterations": 3000,
      "avg_collision_checks": 20513.14285714286,
      "failure_reason_summary": {}
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT-Connect",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.004190386672105108,
      "avg_path_length": 131.05048715607833,
      "avg_nodes_or_iterations": 45.857142857142854,
      "avg_iterations": 62,
      "avg_collision_checks": 245.42857142857142,
      "failure_reason_summary": {}
    },
    {
      "scenario": "maze",
      "algorithm": "RRT",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.5234844626725784,
      "avg_path_length": 334.22985362216406,
      "avg_nodes_or_iterations": 1685.4285714285713,
      "avg_iterations": 3277.285714285714,
      "avg_collision_checks": 7706.428571428572,
      "failure_reason_summary": {}
    },
    {
      "scenario": "maze",
      "algorithm": "RRT*",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 3.2032855820975135,
      "avg_path_length": 306.22022436730487,
      "avg_nodes_or_iterations": 3576.8571428571427,
      "avg_iterations": 5200,
      "avg_collision_checks": 31363.14285714286,
      "failure_reason_summary": {}
    },
    {
      "scenario": "maze",
      "algorithm": "RRT-Connect",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.21094859850459866,
      "avg_path_length": 339.36285792450184,
      "avg_nodes_or_iterations": 935.7142857142857,
      "avg_iterations": 2447.4285714285716,
      "avg_collision_checks": 6962,
      "failure_reason_summary": {}
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.1635125889442861,
      "avg_path_length": 219.74935502854663,
      "avg_nodes_or_iterations": 1006.7142857142857,
      "avg_iterations": 1807.857142857143,
      "avg_collision_checks": 4022.285714285714,
      "failure_reason_summary": {}
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT*",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 1.4462363772493387,
      "avg_path_length": 189.10209698029576,
      "avg_nodes_or_iterations": 2412.4285714285716,
      "avg_iterations": 3300,
      "avg_collision_checks": 18797.14285714286,
      "failure_reason_summary": {}
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT-Connect",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.052055053412914276,
      "avg_path_length": 231.52699074364645,
      "avg_nodes_or_iterations": 408,
      "avg_iterations": 1329.4285714285713,
      "avg_collision_checks": 3538,
      "failure_reason_summary": {}
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.013598367837922913,
      "avg_path_length": 214.84906299960792,
      "avg_nodes_or_iterations": 226.14285714285714,
      "avg_iterations": 327,
      "avg_collision_checks": 795.2857142857143,
      "failure_reason_summary": {}
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT*",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 2.7182521977062737,
      "avg_path_length": 191.32704341679784,
      "avg_nodes_or_iterations": 3436.1428571428573,
      "avg_iterations": 3600,
      "avg_collision_checks": 25789.714285714286,
      "failure_reason_summary": {}
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT-Connect",
      "seed_count": 7,
      "successes": 7,
      "success_rate": 1.0,
      "avg_planning_time_sec": 0.007345545305205243,
      "avg_path_length": 208.86187127284597,
      "avg_nodes_or_iterations": 105.14285714285714,
      "avg_iterations": 165.71428571428572,
      "avg_collision_checks": 565.8571428571429,
      "failure_reason_summary": {}
    }
  ],
  "runs": [
    {
      "scenario": "open_space",
      "algorithm": "RRT",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.002412945032119751,
      "path_length": 128.23435236668797,
      "nodes": 85,
      "iterations": 93,
      "collision_checks": 191,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT*",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.5884208539500833,
      "path_length": 128.28910684613862,
      "nodes": 1601,
      "iterations": 1600,
      "collision_checks": 8106,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT-Connect",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.0011867308057844639,
      "path_length": 128.6441161434805,
      "nodes": 32,
      "iterations": 4,
      "collision_checks": 58,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.002644406631588936,
      "path_length": 130.36940757296256,
      "nodes": 109,
      "iterations": 107,
      "collision_checks": 217,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT*",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.5864334758371115,
      "path_length": 129.0995547570468,
      "nodes": 1601,
      "iterations": 1600,
      "collision_checks": 8149,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT-Connect",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.0012802202254533768,
      "path_length": 127.98715558114328,
      "nodes": 39,
      "iterations": 4,
      "collision_checks": 65,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.0029665352776646614,
      "path_length": 129.20879579106088,
      "nodes": 113,
      "iterations": 119,
      "collision_checks": 243,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT*",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.5903296531178057,
      "path_length": 127.83465578967828,
      "nodes": 1608,
      "iterations": 1600,
      "collision_checks": 8987,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT-Connect",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.0012247399426996708,
      "path_length": 127.83856651410899,
      "nodes": 35,
      "iterations": 7,
      "collision_checks": 67,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.0030128429643809795,
      "path_length": 128.22461103608128,
      "nodes": 109,
      "iterations": 114,
      "collision_checks": 243,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT*",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.5902971751056612,
      "path_length": 127.87950707434953,
      "nodes": 1605,
      "iterations": 1600,
      "collision_checks": 8636,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT-Connect",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.0013188403099775314,
      "path_length": 127.75086937172819,
      "nodes": 38,
      "iterations": 8,
      "collision_checks": 73,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.0026477440260350704,
      "path_length": 128.4509823716213,
      "nodes": 103,
      "iterations": 103,
      "collision_checks": 216,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT*",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.5769767481833696,
      "path_length": 127.88082346652129,
      "nodes": 1587,
      "iterations": 1600,
      "collision_checks": 8085,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT-Connect",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.001163629349321127,
      "path_length": 128.40812677957732,
      "nodes": 32,
      "iterations": 4,
      "collision_checks": 58,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.0016373442485928535,
      "path_length": 128.3685386311754,
      "nodes": 63,
      "iterations": 61,
      "collision_checks": 128,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT*",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.5869930498301983,
      "path_length": 128.32625093612046,
      "nodes": 1607,
      "iterations": 1600,
      "collision_checks": 8204,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT-Connect",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.0015362431295216084,
      "path_length": 128.169673699304,
      "nodes": 51,
      "iterations": 19,
      "collision_checks": 107,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.003536054864525795,
      "path_length": 128.84989192909356,
      "nodes": 133,
      "iterations": 139,
      "collision_checks": 285,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT*",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.5819160649552941,
      "path_length": 128.37505119278413,
      "nodes": 1592,
      "iterations": 1600,
      "collision_checks": 8659,
      "failure_reason": null
    },
    {
      "scenario": "open_space",
      "algorithm": "RRT-Connect",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.0011542369611561298,
      "path_length": 128.04840502594988,
      "nodes": 32,
      "iterations": 4,
      "collision_checks": 58,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.0009215339086949825,
      "path_length": 84.0,
      "nodes": 50,
      "iterations": 54,
      "collision_checks": 112,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT*",
      "seed": 0,
      "success": true,
      "planning_time_sec": 2.6283870707266033,
      "path_length": 84.0,
      "nodes": 3413,
      "iterations": 3400,
      "collision_checks": 23332,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT-Connect",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.00035583460703492165,
      "path_length": 84.0,
      "nodes": 20,
      "iterations": 1,
      "collision_checks": 24,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.0009191110730171204,
      "path_length": 84.0,
      "nodes": 52,
      "iterations": 50,
      "collision_checks": 106,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT*",
      "seed": 1,
      "success": true,
      "planning_time_sec": 2.5532609168440104,
      "path_length": 84.0,
      "nodes": 3349,
      "iterations": 3400,
      "collision_checks": 22306,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT-Connect",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.00034923525527119637,
      "path_length": 84.0,
      "nodes": 20,
      "iterations": 1,
      "collision_checks": 23,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.002317613922059536,
      "path_length": 84.0,
      "nodes": 99,
      "iterations": 111,
      "collision_checks": 229,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT*",
      "seed": 2,
      "success": true,
      "planning_time_sec": 2.617721093352884,
      "path_length": 84.0,
      "nodes": 3397,
      "iterations": 3400,
      "collision_checks": 23226,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT-Connect",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.0003583650104701519,
      "path_length": 84.0,
      "nodes": 21,
      "iterations": 1,
      "collision_checks": 24,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.002127275802195072,
      "path_length": 84.0,
      "nodes": 98,
      "iterations": 100,
      "collision_checks": 214,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT*",
      "seed": 3,
      "success": true,
      "planning_time_sec": 2.5982111277990043,
      "path_length": 84.0,
      "nodes": 3388,
      "iterations": 3400,
      "collision_checks": 21885,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT-Connect",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.0003626430407166481,
      "path_length": 84.0,
      "nodes": 21,
      "iterations": 1,
      "collision_checks": 25,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.0017038588412106037,
      "path_length": 84.0,
      "nodes": 81,
      "iterations": 85,
      "collision_checks": 172,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT*",
      "seed": 4,
      "success": true,
      "planning_time_sec": 2.6921674930490553,
      "path_length": 84.0,
      "nodes": 3355,
      "iterations": 3400,
      "collision_checks": 22157,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT-Connect",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.0005029547028243542,
      "path_length": 84.0,
      "nodes": 20,
      "iterations": 1,
      "collision_checks": 23,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.0010767839848995209,
      "path_length": 84.0,
      "nodes": 55,
      "iterations": 55,
      "collision_checks": 111,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT*",
      "seed": 5,
      "success": true,
      "planning_time_sec": 2.7461675740778446,
      "path_length": 84.0,
      "nodes": 3391,
      "iterations": 3400,
      "collision_checks": 22974,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT-Connect",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.00036594411358237267,
      "path_length": 84.0,
      "nodes": 20,
      "iterations": 1,
      "collision_checks": 23,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.001553588081151247,
      "path_length": 84.0,
      "nodes": 75,
      "iterations": 75,
      "collision_checks": 156,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT*",
      "seed": 6,
      "success": true,
      "planning_time_sec": 2.769316639751196,
      "path_length": 84.0,
      "nodes": 3400,
      "iterations": 3400,
      "collision_checks": 21179,
      "failure_reason": null
    },
    {
      "scenario": "narrow_passage",
      "algorithm": "RRT-Connect",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.0003712121397256851,
      "path_length": 84.0,
      "nodes": 20,
      "iterations": 1,
      "collision_checks": 23,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.06224591098725796,
      "path_length": 136.34461883216576,
      "nodes": 572,
      "iterations": 902,
      "collision_checks": 1927,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT*",
      "seed": 0,
      "success": true,
      "planning_time_sec": 2.333622013218701,
      "path_length": 121.00595845770329,
      "nodes": 3085,
      "iterations": 3800,
      "collision_checks": 21561,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT-Connect",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.008203046396374702,
      "path_length": 139.08910427923956,
      "nodes": 139,
      "iterations": 251,
      "collision_checks": 733,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.07959552481770515,
      "path_length": 141.13491741155252,
      "nodes": 630,
      "iterations": 1087,
      "collision_checks": 2263,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT*",
      "seed": 1,
      "success": true,
      "planning_time_sec": 2.800783189944923,
      "path_length": 122.95340986460661,
      "nodes": 3408,
      "iterations": 3800,
      "collision_checks": 24525,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT-Connect",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.012862073723226786,
      "path_length": 134.69744469142947,
      "nodes": 200,
      "iterations": 399,
      "collision_checks": 1096,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.07113866321742535,
      "path_length": 138.69957382571428,
      "nodes": 549,
      "iterations": 1068,
      "collision_checks": 2236,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT*",
      "seed": 2,
      "success": true,
      "planning_time_sec": 2.8139007398858666,
      "path_length": 121.4759722978798,
      "nodes": 3425,
      "iterations": 3800,
      "collision_checks": 24575,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT-Connect",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.005027265287935734,
      "path_length": 137.599866344487,
      "nodes": 102,
      "iterations": 143,
      "collision_checks": 445,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.02544399630278349,
      "path_length": 134.19533680688545,
      "nodes": 333,
      "iterations": 545,
      "collision_checks": 1197,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT*",
      "seed": 3,
      "success": true,
      "planning_time_sec": 3.0327678360044956,
      "path_length": 122.22963501729019,
      "nodes": 3562,
      "iterations": 3800,
      "collision_checks": 25139,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT-Connect",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.006858197972178459,
      "path_length": 151.32738644589827,
      "nodes": 125,
      "iterations": 203,
      "collision_checks": 621,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.06627822807058692,
      "path_length": 125.70629951197974,
      "nodes": 578,
      "iterations": 895,
      "collision_checks": 1958,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT*",
      "seed": 4,
      "success": true,
      "planning_time_sec": 2.6562582328915596,
      "path_length": 120.61715795740747,
      "nodes": 3357,
      "iterations": 3800,
      "collision_checks": 24468,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT-Connect",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.009098649024963379,
      "path_length": 134.26055492292275,
      "nodes": 149,
      "iterations": 259,
      "collision_checks": 763,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.0267331269569695,
      "path_length": 124.27025903202771,
      "nodes": 329,
      "iterations": 574,
      "collision_checks": 1222,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT*",
      "seed": 5,
      "success": true,
      "planning_time_sec": 3.027035716921091,
      "path_length": 120.64937618372139,
      "nodes": 3545,
      "iterations": 3800,
      "collision_checks": 26179,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT-Connect",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.015424908138811588,
      "path_length": 160.02147723264267,
      "nodes": 210,
      "iterations": 463,
      "collision_checks": 1252,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.08079996425658464,
      "path_length": 140.0750836606546,
      "nodes": 629,
      "iterations": 1071,
      "collision_checks": 2313,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT*",
      "seed": 6,
      "success": true,
      "planning_time_sec": 2.7712377309799194,
      "path_length": 121.69641716142154,
      "nodes": 3395,
      "iterations": 3800,
      "collision_checks": 23142,
      "failure_reason": null
    },
    {
      "scenario": "bug_trap",
      "algorithm": "RRT-Connect",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.006025891285389662,
      "path_length": 135.00854527708114,
      "nodes": 111,
      "iterations": 219,
      "collision_checks": 610,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.00537486607208848,
      "path_length": 128.99252907588073,
      "nodes": 81,
      "iterations": 109,
      "collision_checks": 301,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT*",
      "seed": 0,
      "success": true,
      "planning_time_sec": 2.1929699210450053,
      "path_length": 128.97415669474432,
      "nodes": 2955,
      "iterations": 3000,
      "collision_checks": 21310,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT-Connect",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.004787450656294823,
      "path_length": 128.0272445558594,
      "nodes": 63,
      "iterations": 89,
      "collision_checks": 312,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.0067657772451639175,
      "path_length": 140.49220301890077,
      "nodes": 124,
      "iterations": 177,
      "collision_checks": 421,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT*",
      "seed": 1,
      "success": true,
      "planning_time_sec": 2.161495086271316,
      "path_length": 128.29226967347518,
      "nodes": 2923,
      "iterations": 3000,
      "collision_checks": 21232,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT-Connect",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.004191441927105188,
      "path_length": 130.6087369101827,
      "nodes": 38,
      "iterations": 50,
      "collision_checks": 205,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.009955657180398703,
      "path_length": 145.62476813862065,
      "nodes": 145,
      "iterations": 198,
      "collision_checks": 514,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT*",
      "seed": 2,
      "success": true,
      "planning_time_sec": 2.120494074653834,
      "path_length": 127.99089251999348,
      "nodes": 2901,
      "iterations": 3000,
      "collision_checks": 20781,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT-Connect",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.005278376862406731,
      "path_length": 137.80329451738913,
      "nodes": 50,
      "iterations": 86,
      "collision_checks": 340,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.007191534154117107,
      "path_length": 142.4162059795056,
      "nodes": 121,
      "iterations": 151,
      "collision_checks": 433,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT*",
      "seed": 3,
      "success": true,
      "planning_time_sec": 2.212015596218407,
      "path_length": 129.9438748441165,
      "nodes": 2969,
      "iterations": 3000,
      "collision_checks": 19976,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT-Connect",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.004013226833194494,
      "path_length": 129.71858965173902,
      "nodes": 40,
      "iterations": 37,
      "collision_checks": 179,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.0062560103833675385,
      "path_length": 133.239305699084,
      "nodes": 117,
      "iterations": 154,
      "collision_checks": 382,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT*",
      "seed": 4,
      "success": true,
      "planning_time_sec": 2.115475680679083,
      "path_length": 127.67019996908509,
      "nodes": 2974,
      "iterations": 3000,
      "collision_checks": 19622,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT-Connect",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.0038436963222920895,
      "path_length": 130.2173352099514,
      "nodes": 42,
      "iterations": 63,
      "collision_checks": 244,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.00717467674985528,
      "path_length": 130.4334172764935,
      "nodes": 122,
      "iterations": 182,
      "collision_checks": 425,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT*",
      "seed": 5,
      "success": true,
      "planning_time_sec": 2.064015164040029,
      "path_length": 127.92055741812884,
      "nodes": 2936,
      "iterations": 3000,
      "collision_checks": 20082,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT-Connect",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.0036836862564086914,
      "path_length": 129.77792632342803,
      "nodes": 41,
      "iterations": 54,
      "collision_checks": 216,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.00697889132425189,
      "path_length": 132.44708278263678,
      "nodes": 142,
      "iterations": 163,
      "collision_checks": 416,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT*",
      "seed": 6,
      "success": true,
      "planning_time_sec": 2.096929547842592,
      "path_length": 128.33193407451793,
      "nodes": 2958,
      "iterations": 3000,
      "collision_checks": 20589,
      "failure_reason": null
    },
    {
      "scenario": "cluttered",
      "algorithm": "RRT-Connect",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.003534827847033739,
      "path_length": 131.2002829239987,
      "nodes": 47,
      "iterations": 55,
      "collision_checks": 222,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.6827579368837178,
      "path_length": 332.0163631675512,
      "nodes": 1961,
      "iterations": 3822,
      "collision_checks": 8905,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT*",
      "seed": 0,
      "success": true,
      "planning_time_sec": 2.9976391987875104,
      "path_length": 302.6322242285145,
      "nodes": 3464,
      "iterations": 5200,
      "collision_checks": 31167,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT-Connect",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.27056355215609074,
      "path_length": 330.39474130349765,
      "nodes": 1111,
      "iterations": 2920,
      "collision_checks": 8232,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.5938467071391642,
      "path_length": 319.7014432229719,
      "nodes": 1845,
      "iterations": 3421,
      "collision_checks": 7948,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT*",
      "seed": 1,
      "success": true,
      "planning_time_sec": 3.3028473486192524,
      "path_length": 310.56301352411896,
      "nodes": 3600,
      "iterations": 5200,
      "collision_checks": 30537,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT-Connect",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.11349292285740376,
      "path_length": 346.36000566534926,
      "nodes": 679,
      "iterations": 1661,
      "collision_checks": 4825,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.45759537210687995,
      "path_length": 343.7190489131062,
      "nodes": 1494,
      "iterations": 3113,
      "collision_checks": 7326,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT*",
      "seed": 2,
      "success": true,
      "planning_time_sec": 3.6010535140521824,
      "path_length": 306.6881942106163,
      "nodes": 3818,
      "iterations": 5200,
      "collision_checks": 34624,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT-Connect",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.26575561612844467,
      "path_length": 339.7887996569044,
      "nodes": 1111,
      "iterations": 3017,
      "collision_checks": 8530,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.44316101912409067,
      "path_length": 345.4163934978194,
      "nodes": 1578,
      "iterations": 3061,
      "collision_checks": 7232,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT*",
      "seed": 3,
      "success": true,
      "planning_time_sec": 2.695406618062407,
      "path_length": 309.660712441802,
      "nodes": 3241,
      "iterations": 5200,
      "collision_checks": 26984,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT-Connect",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.3022698340937495,
      "path_length": 355.5003013883315,
      "nodes": 1229,
      "iterations": 2996,
      "collision_checks": 8604,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.355006888974458,
      "path_length": 334.4112243418689,
      "nodes": 1335,
      "iterations": 2841,
      "collision_checks": 6824,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT*",
      "seed": 4,
      "success": true,
      "planning_time_sec": 3.5930759739130735,
      "path_length": 303.28709452988494,
      "nodes": 3845,
      "iterations": 5200,
      "collision_checks": 33987,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT-Connect",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.22734884591773152,
      "path_length": 341.3558404553311,
      "nodes": 898,
      "iterations": 2307,
      "collision_checks": 6538,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.46166424406692386,
      "path_length": 328.6606052655652,
      "nodes": 1633,
      "iterations": 2985,
      "collision_checks": 7026,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT*",
      "seed": 5,
      "success": true,
      "planning_time_sec": 3.227076046168804,
      "path_length": 306.0352988854139,
      "nodes": 3631,
      "iterations": 5200,
      "collision_checks": 33061,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT-Connect",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.2026326721534133,
      "path_length": 327.45785298482537,
      "nodes": 930,
      "iterations": 2591,
      "collision_checks": 7221,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.6703590704128146,
      "path_length": 335.6838969462657,
      "nodes": 1952,
      "iterations": 3698,
      "collision_checks": 8684,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT*",
      "seed": 6,
      "success": true,
      "planning_time_sec": 3.0059003750793636,
      "path_length": 304.6750327507833,
      "nodes": 3439,
      "iterations": 5200,
      "collision_checks": 29182,
      "failure_reason": null
    },
    {
      "scenario": "maze",
      "algorithm": "RRT-Connect",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.09457674622535706,
      "path_length": 334.6824640172736,
      "nodes": 592,
      "iterations": 1640,
      "collision_checks": 4784,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.13007971737533808,
      "path_length": 201.29953471891676,
      "nodes": 913,
      "iterations": 1747,
      "collision_checks": 3834,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT*",
      "seed": 0,
      "success": true,
      "planning_time_sec": 1.629183602053672,
      "path_length": 187.68887834900684,
      "nodes": 2611,
      "iterations": 3300,
      "collision_checks": 19636,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT-Connect",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.14341665105894208,
      "path_length": 263.29056303657427,
      "nodes": 834,
      "iterations": 2229,
      "collision_checks": 5942,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.28820326598361135,
      "path_length": 222.10454194058133,
      "nodes": 1428,
      "iterations": 2281,
      "collision_checks": 5060,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT*",
      "seed": 1,
      "success": true,
      "planning_time_sec": 1.2774279480800033,
      "path_length": 187.71139897355982,
      "nodes": 2271,
      "iterations": 3300,
      "collision_checks": 16674,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT-Connect",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.04343680990859866,
      "path_length": 217.1622834165014,
      "nodes": 363,
      "iterations": 1426,
      "collision_checks": 3735,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.14311304688453674,
      "path_length": 229.96109329357054,
      "nodes": 978,
      "iterations": 1589,
      "collision_checks": 3573,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT*",
      "seed": 2,
      "success": true,
      "planning_time_sec": 1.568449862767011,
      "path_length": 189.38662777735442,
      "nodes": 2538,
      "iterations": 3300,
      "collision_checks": 19249,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT-Connect",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.03558394871652126,
      "path_length": 216.63194268806893,
      "nodes": 327,
      "iterations": 1311,
      "collision_checks": 3350,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.233626252040267,
      "path_length": 235.4203210772244,
      "nodes": 1303,
      "iterations": 2220,
      "collision_checks": 5007,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT*",
      "seed": 3,
      "success": true,
      "planning_time_sec": 1.7609655130654573,
      "path_length": 194.32981933781736,
      "nodes": 2678,
      "iterations": 3300,
      "collision_checks": 24710,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT-Connect",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.027532247826457024,
      "path_length": 229.68899365677726,
      "nodes": 260,
      "iterations": 992,
      "collision_checks": 2622,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.1241946299560368,
      "path_length": 212.0906722955519,
      "nodes": 867,
      "iterations": 1760,
      "collision_checks": 3847,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT*",
      "seed": 4,
      "success": true,
      "planning_time_sec": 1.81355931609869,
      "path_length": 186.91205831512406,
      "nodes": 2773,
      "iterations": 3300,
      "collision_checks": 19738,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT-Connect",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.02408450609073043,
      "path_length": 246.1836376980306,
      "nodes": 260,
      "iterations": 888,
      "collision_checks": 2446,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.14804219314828515,
      "path_length": 213.48914182099819,
      "nodes": 902,
      "iterations": 1741,
      "collision_checks": 3863,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT*",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.9398436737246811,
      "path_length": 186.5669036648031,
      "nodes": 1903,
      "iterations": 3300,
      "collision_checks": 13983,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT-Connect",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.03646413795650005,
      "path_length": 216.55189802147518,
      "nodes": 378,
      "iterations": 993,
      "collision_checks": 2840,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.07732901722192764,
      "path_length": 223.88018005298332,
      "nodes": 656,
      "iterations": 1317,
      "collision_checks": 2972,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT*",
      "seed": 6,
      "success": true,
      "planning_time_sec": 1.1342247249558568,
      "path_length": 191.1189924444046,
      "nodes": 2113,
      "iterations": 3300,
      "collision_checks": 17590,
      "failure_reason": null
    },
    {
      "scenario": "start_goal_near_obstacle",
      "algorithm": "RRT-Connect",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.05386707233265042,
      "path_length": 231.17961668809752,
      "nodes": 434,
      "iterations": 1467,
      "collision_checks": 3831,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.009662855882197618,
      "path_length": 195.62618946902444,
      "nodes": 189,
      "iterations": 264,
      "collision_checks": 644,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT*",
      "seed": 0,
      "success": true,
      "planning_time_sec": 2.766595235094428,
      "path_length": 192.49937960383158,
      "nodes": 3425,
      "iterations": 3600,
      "collision_checks": 25688,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT-Connect",
      "seed": 0,
      "success": true,
      "planning_time_sec": 0.005165216978639364,
      "path_length": 195.16116858473504,
      "nodes": 72,
      "iterations": 66,
      "collision_checks": 322,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.024935149122029543,
      "path_length": 214.30485890213785,
      "nodes": 358,
      "iterations": 468,
      "collision_checks": 1115,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT*",
      "seed": 1,
      "success": true,
      "planning_time_sec": 2.788038557395339,
      "path_length": 188.9744408592514,
      "nodes": 3488,
      "iterations": 3600,
      "collision_checks": 24103,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT-Connect",
      "seed": 1,
      "success": true,
      "planning_time_sec": 0.006277326960116625,
      "path_length": 215.7277311845333,
      "nodes": 93,
      "iterations": 128,
      "collision_checks": 469,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.008132022805511951,
      "path_length": 205.0904182820887,
      "nodes": 148,
      "iterations": 213,
      "collision_checks": 562,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT*",
      "seed": 2,
      "success": true,
      "planning_time_sec": 2.6711914618499577,
      "path_length": 190.9662573550192,
      "nodes": 3419,
      "iterations": 3600,
      "collision_checks": 24819,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT-Connect",
      "seed": 2,
      "success": true,
      "planning_time_sec": 0.0046519869938492775,
      "path_length": 204.31766139061165,
      "nodes": 72,
      "iterations": 100,
      "collision_checks": 371,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.013751666061580181,
      "path_length": 209.94549964532354,
      "nodes": 234,
      "iterations": 374,
      "collision_checks": 916,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT*",
      "seed": 3,
      "success": true,
      "planning_time_sec": 2.596217223908752,
      "path_length": 190.95373300326938,
      "nodes": 3362,
      "iterations": 3600,
      "collision_checks": 26861,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT-Connect",
      "seed": 3,
      "success": true,
      "planning_time_sec": 0.015307391062378883,
      "path_length": 213.0096852364851,
      "nodes": 209,
      "iterations": 422,
      "collision_checks": 1237,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.014740712009370327,
      "path_length": 270.873615131833,
      "nodes": 220,
      "iterations": 398,
      "collision_checks": 887,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT*",
      "seed": 4,
      "success": true,
      "planning_time_sec": 2.7850102079100907,
      "path_length": 190.56538264136412,
      "nodes": 3485,
      "iterations": 3600,
      "collision_checks": 27355,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT-Connect",
      "seed": 4,
      "success": true,
      "planning_time_sec": 0.009231668896973133,
      "path_length": 212.2124661913779,
      "nodes": 141,
      "iterations": 241,
      "collision_checks": 777,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.01643657684326172,
      "path_length": 201.2062980273356,
      "nodes": 284,
      "iterations": 382,
      "collision_checks": 930,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT*",
      "seed": 5,
      "success": true,
      "planning_time_sec": 2.735480167903006,
      "path_length": 192.8293269861247,
      "nodes": 3457,
      "iterations": 3600,
      "collision_checks": 24948,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT-Connect",
      "seed": 5,
      "success": true,
      "planning_time_sec": 0.005329781211912632,
      "path_length": 211.54678922132132,
      "nodes": 75,
      "iterations": 98,
      "collision_checks": 380,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.007529592141509056,
      "path_length": 206.8965615395124,
      "nodes": 150,
      "iterations": 190,
      "collision_checks": 513,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT*",
      "seed": 6,
      "success": true,
      "planning_time_sec": 2.6852325298823416,
      "path_length": 192.5007834687245,
      "nodes": 3417,
      "iterations": 3600,
      "collision_checks": 26754,
      "failure_reason": null
    },
    {
      "scenario": "long_distance",
      "algorithm": "RRT-Connect",
      "seed": 6,
      "success": true,
      "planning_time_sec": 0.005455445032566786,
      "path_length": 210.05759710085755,
      "nodes": 74,
      "iterations": 105,
      "collision_checks": 405,
      "failure_reason": null
    }
  ]
}