RelaxedPlan with and without threats

SPEED		QUALITY
Depots-Numeric-speed		Depots-Numeric-quality
Depots-SimpleTime-speed		Depots-SimpleTime-quality
Depots-Strips-speed		Depots-Strips-quality
Depots-Time-speed		Depots-Time-quality
DriverLog-HardNumeric-speed		DriverLog-HardNumeric-quality
DriverLog-Numeric-speed		DriverLog-Numeric-quality
DriverLog-SimpleTime-speed		DriverLog-SimpleTime-quality
DriverLog-Strips-speed		DriverLog-Strips-quality
DriverLog-Time-speed		DriverLog-Time-quality
ZenoTravel-Numeric-speed		ZenoTravel-Numeric-quality
ZenoTravel-SimpleTime-speed		ZenoTravel-SimpleTime-quality
ZenoTravel-Strips-speed		ZenoTravel-Strips-quality
ZenoTravel-Time-speed		ZenoTravel-Time-quality
Rovers-Numeric-speed		Rovers-Numeric-quality
Rovers-SimpleTime-speed		Rovers-SimpleTime-quality
Rovers-Strips-speed		Rovers-Strips-quality
Rovers-Time-speed		Rovers-Time-quality
Satellite-Complex-speed		Satellite-Complex-quality
Satellite-Numeric-speed		Satellite-Numeric-quality
Satellite-SimpleTime-speed		Satellite-SimpleTime-quality
Satellite-Strips-speed		Satellite-Strips-quality
Satellite-Time-speed		Satellite-Time-quality

Depots-Numeric

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20	21	22
H2-I22-nothreads	5	5	4	2	0	0	0	5	0	5	0	0	5	5	1	5	5	5	5	0	5	0
H2-I22	5	5	5	5	5	0	0	5	2	5	5	4	5	5	5	5	5	5	5	5	5	1

LPG-QUALITY

Depots-SimpleTime

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20	21	22
H2-I22-nothreads	5	5	0	0	0	0	5	0	0	0	0	0	3	5	0	5	5	2	0	0	5	0
H2-I22	5	5	5	5	5	2	5	5	5	5	5	0	5	5	4	5	5	5	5	4	5	2

LPG-QUALITY

Depots-Strips

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20	21	22
H2-I22-nothreads	5	5	5	3	0	0	5	5	3	5	1	0	5	5	2	5	5	5	5	1	5	0
H2-I22	5	5	5	5	5	1	5	5	5	5	5	3	5	5	4	5	5	5	5	5	5	5

LPG-QUALITY

Depots-Time

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20	21	22
H2-I22-nothreads	5	5	0	0	0	0	5	0	0	0	0	0	1	5	0	5	5	0	0	0	5	0
H2-I22	5	5	5	5	3	0	5	5	4	5	5	1	5	5	4	5	5	5	5	5	5	2

LPG-QUALITY

DriverLog-HardNumeric

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	0	5	2	0	1
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	2	5	5	2	5

LPG-QUALITY

DriverLog-Numeric

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	0	5	3	0	1
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	0	5	5	1	5

LPG-QUALITY

DriverLog-SimpleTime

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	0	3	1	0	1
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	0	5	5	3	5

LPG-QUALITY

DriverLog-Strips

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	0	5	3	0	1
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	4	5	5	5	5

LPG-QUALITY

DriverLog-Time

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	0	5	0	0	0
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	1	5	5	2	5

LPG-QUALITY

ZenoTravel-Numeric

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	4
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	4	5	5	5

LPG-QUALITY

ZenoTravel-SimpleTime

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	3	2	0	0
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	3	0	0

LPG-QUALITY

ZenoTravel-Strips

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	4	3	4	0	1
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	3	0	0

LPG-QUALITY

ZenoTravel-Time

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5

LPG-QUALITY

Rovers-Numeric

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	1	5	5	1	5	5	5	3	2	5	5	3	5	5	0
H2-I22	5	5	5	5	5	0	5	5	3	5	5	5	4	3	5	4	0	4	5	0

LPG-QUALITY

Rovers-SimpleTime

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5

LPG-QUALITY

Rovers-Strips

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5

LPG-QUALITY

Rovers-Time

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	4	5	5	1	5	5	5	5	4	5	5	5	5	5	5
H2-I22	5	5	5	5	5	0	5	5	5	5	5	5	5	5	5	5	5	5	5	3

LPG-QUALITY

Satellite-Complex

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5

LPG-QUALITY

Satellite-Numeric

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	0	1	5	5	5	5	5	5	5	5	2	0	0	1	1	0	2	4	0	0
H2-I22	0	2	5	5	5	5	5	5	5	5	5	5	2	1	1	5	4	3	0	0

LPG-QUALITY

Satellite-SimpleTime

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5

LPG-QUALITY

Satellite-Strips

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5

LPG-QUALITY

Satellite-Time

LPG-SPEED

Number of Successful Runs

Planner	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20
H2-I22-nothreads	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5
H2-I22	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5	5

LPG-QUALITY