I
nd
o
ne
s
ia
n J
o
urna
l o
f
E
lect
rica
l
E
ng
ineering
a
nd
Co
m
pu
t
er
Science
Vo
l.
3
8
,
No
.
1
,
A
p
r
il
20
2
5
,
p
p
.
1
07
~
1
19
I
SS
N:
2
502
-
4
7
52
,
DOI
: 1
0
.
1
1
5
9
1
/ijee
cs
.v
3
8
.
i
1
.
pp
1
07
-
1
19
107
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
ee
cs
.
ia
esco
r
e.
co
m
A H
BM
O
-
ba
sed
ba
tch
bea
co
n ad
j
ustment
f
o
r imp
r
o
v
ing
t
he
Fas
t
-
RRT
H
er
u Suwo
y
o
1
,
Ying
zho
ng
T
ia
n
2
,
Andi
Adria
ns
y
a
h
1
,
J
ulp
ri
Andi
k
a
1
1
D
e
p
a
r
t
me
n
t
o
f
El
e
c
t
r
i
c
a
l
En
g
i
n
e
e
r
i
n
g
,
F
a
c
u
l
t
y
o
f
E
n
g
i
n
e
e
r
i
n
g
,
U
n
i
v
e
r
si
t
a
s
M
e
r
c
u
B
u
a
n
a
,
Ja
k
a
r
t
a
,
I
n
d
o
n
e
s
i
a
2
S
c
h
o
o
l
o
f
M
e
c
h
a
t
r
o
n
i
c
En
g
i
n
e
e
r
i
n
g
a
n
d
A
u
t
o
m
a
t
i
o
n
,
S
h
a
n
g
h
a
i
U
n
i
v
e
r
si
t
y
,
S
h
a
n
g
h
a
i
,
C
h
i
n
a
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Ap
r
24
,
2
0
2
4
R
ev
is
ed
Oct
10
,
202
4
Acc
ep
ted
Oct
30
,
2
0
2
4
F
a
st
-
RRT
imp
ro
v
e
s
o
n
th
e
o
ri
g
in
a
l
ra
p
id
l
y
-
e
x
p
lo
ri
n
g
ra
n
d
o
m
tree
s
(
RRT
)
b
y
in
c
o
rp
o
ra
ti
n
g
two
m
a
in
sta
g
e
s
:
imp
ro
v
e
d
-
RRT
a
n
d
fa
st
-
o
p
ti
m
a
l
.
Th
e
imp
ro
v
e
d
-
RRT
sta
g
e
e
n
h
a
n
c
e
s
th
e
se
a
rc
h
p
ro
c
e
ss
t
h
ro
u
g
h
fa
st
-
sa
m
p
li
n
g
a
n
d
ra
n
d
o
m
ste
e
ri
n
g
,
wh
il
e
th
e
fa
st
-
o
p
ti
m
a
l
sta
g
e
o
p
ti
m
ize
s
th
e
p
a
th
u
s
in
g
fu
si
o
n
a
n
d
p
a
t
h
a
rra
n
g
e
m
e
n
t.
Ho
we
v
e
r,
p
a
th
f
u
sio
n
c
a
n
o
n
l
y
b
e
o
p
ti
m
a
l
wh
e
n
t
h
e
n
e
wly
f
o
u
n
d
p
a
t
h
is
u
n
i
q
u
e
a
n
d
d
iffere
n
t
fro
m
p
re
v
io
u
s
p
a
th
s.
T
h
is
u
n
i
q
u
e
n
e
ss
ra
re
ly
o
c
c
u
rs
in
c
a
se
s
with
n
a
rro
w
c
o
rri
d
o
rs,
so
p
a
t
h
f
u
sio
n
o
n
l
y
p
ro
v
id
e
s
su
b
o
p
ti
m
a
l
c
o
n
d
it
i
o
n
s.
To
a
d
d
re
ss
th
is,
th
e
st
u
d
y
e
x
p
l
o
re
s
u
sin
g
h
o
n
e
y
b
e
e
m
a
ti
n
g
o
p
ti
m
iza
ti
o
n
(
HBMO)
to
o
p
ti
m
ize
o
r
re
p
lac
e
th
e
fu
sio
n
sta
g
e
.
HBMO
h
e
lp
s
d
e
term
in
e
n
e
w
b
e
a
c
o
n
c
o
o
rd
i
n
a
tes
,
wh
ich
a
re
n
o
d
e
s
b
e
twe
e
n
th
e
sta
rt
a
n
d
g
o
a
l
p
o
in
t
s
a
lo
n
g
t
h
e
p
a
th
,
th
r
o
u
g
h
a
b
a
tch
b
e
a
c
o
n
a
d
ju
stm
e
n
t
a
p
p
ro
a
c
h
.
T
h
e
re
su
lt
s
sh
o
w
t
h
a
t
i
n
teg
ra
ti
n
g
HBMO
in
to
F
a
st
-
RRT
imp
ro
v
e
s
it
s
o
p
ti
m
a
li
ty
,
wi
th
a
2
1
.
8
5
%
re
d
u
c
ti
o
n
i
n
p
a
th
c
o
st
a
n
d
a
5
.
2
2
%
d
e
c
re
a
se
in
c
o
m
p
letio
n
ti
m
e
a
c
ro
ss
e
n
v
iro
n
m
e
n
ts
with
v
a
ry
i
n
g
d
iffi
c
u
lt
y
le
v
e
ls.
Th
is
h
y
b
ri
d
a
l
g
o
rit
h
m
o
u
tp
e
rf
o
rm
s
p
re
v
i
o
u
s
m
e
th
o
d
s
i
n
term
s
o
f
b
o
t
h
p
a
t
h
o
p
t
ima
li
ty
a
n
d
c
o
n
v
e
rg
e
n
c
e
ra
te,
d
e
m
o
n
st
ra
ti
n
g
it
s
e
ffe
c
ti
v
e
n
e
ss
in
e
n
h
a
n
c
in
g
F
a
st
-
R
RT’s
p
e
rfo
rm
a
n
c
e
.
K
ey
w
o
r
d
s
:
Fas
t
-
R
R
T
Glo
b
al
p
ath
p
la
n
n
in
g
HB
MO
Mo
b
ile
r
o
b
o
t
Path
p
lan
n
in
g
b
ased
-
h
y
b
r
id
alg
o
r
ith
m
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
J
u
lp
r
i A
n
d
ik
a
Dep
ar
tm
en
t o
f
E
lectr
ical
E
n
g
i
n
ee
r
in
g
,
Facu
lty
o
f
E
n
g
in
ee
r
in
g
,
Un
iv
er
s
itas
Me
r
cu
B
u
an
a
J
ak
ar
ta,
I
n
d
o
n
esia
E
m
ail: ju
lp
r
i.a
n
d
ik
a@
m
er
cu
b
u
an
a.
ac
.
id
1.
I
NT
RO
D
UCT
I
O
N
No
t
o
n
ly
b
eh
a
v
io
r
-
b
ased
m
o
v
em
en
t
[
1
]
-
[
3
]
,
s
im
u
ltan
e
o
u
s
lo
ca
lizatio
n
an
d
m
ap
p
in
g
(
SLA
M)
[
4
]
,
[
5
]
an
d
p
ath
t
r
ac
k
in
g
[
6
]
-
[
8
]
,
p
at
h
p
lan
n
in
g
is
also
an
is
s
u
e
th
at
m
u
s
t
b
e
co
n
s
id
er
e
d
to
m
ak
e
r
o
b
o
ts
ab
le
to
n
av
ig
ate
au
to
n
o
m
o
u
s
ly
in
u
n
k
n
o
wn
e
n
v
ir
o
n
m
en
t
[
4
]
,
[
9
]
.
Sear
ch
in
g
an
d
s
am
p
lin
g
-
b
ased
p
ath
p
lan
n
in
g
alg
o
r
ith
m
s
s
er
v
e
as
two
m
a
jo
r
ap
p
r
o
ac
h
es
in
r
o
b
o
tics
an
d
ar
tific
ial
in
telli
g
en
ce
,
ea
ch
h
av
in
g
d
is
tin
ct
ch
ar
ac
ter
is
tics
.
Sear
ch
-
b
ased
alg
o
r
ith
m
s
s
u
ch
as
A*
[
1
0
]
an
d
Dijk
s
tr
a
[
1
1
]
,
[
1
2
]
p
r
i
o
r
i
tize
th
e
s
ea
r
ch
f
o
r
o
p
tim
al
p
ath
s
th
r
o
u
g
h
s
y
s
te
m
atic
ex
p
lo
r
atio
n
o
f
th
e
s
ea
r
ch
s
p
ac
e,
en
s
u
r
in
g
co
m
p
lete
n
ess
an
d
o
p
tim
ality
.
T
h
ey
ar
e
ef
f
icien
t
in
s
m
aller
,
s
tatic
en
v
ir
o
n
m
en
ts
wh
er
e
th
e
r
ig
h
t
s
o
lu
tio
n
is
p
ar
am
o
u
n
t.
I
n
c
o
n
tr
ast,
s
am
p
lin
g
-
b
ased
m
eth
o
d
s
s
u
c
h
as
r
a
p
id
ly
-
e
x
p
lo
r
i
n
g
r
an
d
o
m
tr
ee
s
(
R
R
T
)
[
1
3
]
an
d
p
r
o
b
ab
ilis
tic
r
o
ad
m
a
p
s
(
PR
M)
[
1
4
]
f
o
cu
s
o
n
ex
p
lo
r
in
g
f
ea
s
ib
le
r
eg
io
n
s
o
f
s
p
ac
e
th
r
o
u
g
h
r
an
d
o
m
s
am
p
lin
g
,
m
a
k
in
g
th
em
p
ar
ticu
lar
l
y
ad
ep
t
in
h
ig
h
-
d
im
en
s
io
n
al
a
n
d
d
y
n
am
ic
en
v
ir
o
n
m
en
ts
.
W
h
ile
it
d
o
es
n
o
t
g
u
ar
a
n
tee
o
p
tim
ality
,
it
o
f
f
e
r
s
s
ca
lab
ilit
y
an
d
ad
ap
tab
ilit
y
,
m
ak
in
g
it
s
u
itab
le
f
o
r
s
ce
n
ar
i
o
s
with
co
m
p
lex
o
b
s
tacle
s
o
r
co
n
s
tan
tly
ch
an
g
i
n
g
ter
r
ain
.
T
h
e
ch
o
ice
b
etwe
en
th
e
two
d
ep
en
d
s
o
n
f
ac
to
r
s
s
u
ch
as
en
v
ir
o
n
m
en
tal
d
y
n
am
ics,
co
m
p
u
tin
g
r
eso
u
r
ce
s
,
an
d
th
e
d
esire
d
b
a
lan
ce
b
etwe
en
o
p
tim
ality
an
d
ef
f
icien
cy
.
Ma
n
y
r
esear
ch
er
s
an
d
p
r
ac
titi
o
n
er
s
u
tili
ze
s
am
p
lin
g
-
b
ased
p
ath
p
lan
n
in
g
m
et
h
o
d
s
to
in
c
r
ea
s
e
o
p
tim
a
lity
wh
ile
tak
in
g
a
d
v
a
n
tag
e
o
f
t
h
e
s
p
ee
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
In
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
8
,
No
.
1
,
Ap
r
il
20
2
5
:
1
07
-
1
19
108
av
ailab
le
in
f
in
d
in
g
s
o
lu
tio
n
s
.
Sam
p
lin
g
-
b
ased
alg
o
r
ith
m
s
,
s
u
ch
as
R
R
T
an
d
its
v
ar
ian
ts
,
p
r
io
r
itize
ef
f
icien
cy
b
y
ex
p
l
o
r
in
g
th
e
co
n
f
ig
u
r
atio
n
s
p
ac
e
th
r
o
u
g
h
r
a
n
d
o
m
s
am
p
li
n
g
an
d
in
cr
em
e
n
tal
tr
ee
g
r
o
wth
.
Alth
o
u
g
h
R
R
T
m
ay
n
o
t
g
u
a
r
a
n
tee
an
o
p
tim
al
s
o
lu
tio
n
in
its
b
asic
f
o
r
m
,
r
esear
ch
er
s
h
a
v
e
d
ev
elo
p
e
d
tech
n
iq
u
es
to
in
cr
ea
s
e
its
o
p
tim
ality
with
o
u
t
r
ed
u
cin
g
its
s
p
ee
d
.
Fo
r
e
x
am
p
le,
alg
o
r
ith
m
s
s
u
ch
as
R
R
T
-
C
o
n
n
ec
t
[
1
5
]
-
[
1
7
]
.
R
R
T
-
C
o
n
n
ec
t
ca
r
r
ies
a
two
-
wa
y
ap
p
r
o
ac
h
in
f
i
n
d
in
g
p
a
th
s
b
etwe
en
s
tar
t
p
o
in
ts
an
d
e
n
d
p
o
in
ts
in
th
e
s
ea
r
ch
s
p
ac
e.
B
y
in
itializin
g
an
e
x
p
lo
r
atio
n
tr
e
e
f
r
o
m
a
s
tar
tin
g
p
o
in
t,
R
R
T
-
C
o
n
n
ec
t
iter
ativ
ely
p
er
f
o
r
m
s
a
r
an
d
o
m
ex
p
an
s
io
n
,
ad
d
in
g
n
ew
p
o
in
ts
co
n
n
e
cted
to
n
ea
r
b
y
p
o
in
ts
in
th
e
tr
ee
.
T
h
is
p
r
o
ce
s
s
co
n
tin
u
es
u
n
til
th
e
p
ath
r
ea
ch
e
s
th
e
en
d
p
o
in
t,
t
h
en
th
e
r
ev
er
s
e
p
r
o
ce
s
s
is
ca
r
r
ied
o
u
t
f
r
o
m
th
e
en
d
p
o
in
t
to
th
e
s
tar
t
p
o
in
t.
B
y
co
m
b
in
in
g
th
e
two
tr
ee
s
f
r
o
m
o
p
p
o
s
ite
d
ir
ec
t
io
n
s
,
R
R
T
-
C
o
n
n
ec
t
cr
ea
tes
s
u
f
f
icien
t
co
n
n
ec
tio
n
p
ath
s
b
etwe
en
th
e
s
tar
t a
n
d
en
d
p
o
in
ts
in
th
e
s
ea
r
ch
s
p
ac
e.
Alth
o
u
g
h
it
d
o
es
n
o
t
g
u
ar
a
n
tee
an
o
p
tim
al
p
ath
,
th
is
ap
p
r
o
ac
h
is
ef
f
icien
t
in
e
x
p
lo
r
in
g
th
e
s
ea
r
ch
s
p
ac
e
an
d
o
f
ten
p
r
o
v
id
es
s
o
lu
t
io
n
s
in
a
s
h
o
r
t
tim
e.
I
n
r
esp
o
n
s
e
to
th
ese
lim
ita
tio
n
s
,
r
ap
id
ly
-
ex
p
lo
r
i
n
g
r
an
d
o
m
tr
ee
s
s
tar
(
R
R
T
*
)
[
1
3
]
,
[
1
8
]
was
in
tr
o
d
u
ce
d
,
im
p
r
o
v
in
g
th
e
alg
o
r
ith
m
with
a
d
if
f
er
e
n
t
ap
p
r
o
ac
h
.
R
R
T
*
co
m
b
in
es
a
r
an
d
o
m
ex
p
lo
r
atio
n
a
p
p
r
o
ac
h
with
a
n
o
d
e
ev
a
lu
atio
n
an
d
r
ec
o
n
n
ec
tio
n
p
r
o
c
ess
to
im
p
r
o
v
e
th
e
q
u
ality
o
f
t
h
e
r
esu
ltin
g
p
ath
s
.
Ad
d
itio
n
ally
,
R
R
T
*
d
y
n
am
ic
ally
u
p
d
ates
ex
is
tin
g
p
ath
s
b
y
co
n
s
id
er
in
g
th
e
to
tal
co
s
t
f
r
o
m
t
h
e
s
tar
tin
g
p
o
in
t
to
ea
ch
n
o
d
e
in
th
e
ex
p
lo
r
atio
n
tr
ee
.
T
h
u
s
,
R
R
T
*
en
ab
les
th
e
s
ea
r
ch
f
o
r
m
o
r
e
ef
f
icien
t
an
d
p
o
ten
tial
p
ath
s
to
r
ea
ch
o
p
tim
al
s
o
lu
tio
n
s
in
v
ar
io
u
s
m
o
ti
o
n
p
la
n
n
in
g
p
r
o
b
lem
s
.
Ho
we
v
er
,
th
e
n
o
n
-
s
p
ec
if
ic
d
ir
e
ctio
n
o
f
e
x
p
lo
r
atio
n
m
ea
n
s
th
at
R
R
T
*
h
as
th
e
p
o
ten
tial
to
co
n
d
u
ct
s
am
p
lin
g
in
p
lace
s
th
at
h
av
e
ac
tu
ally
n
ev
er
b
ee
n
t
o
u
ch
e
d
o
r
ev
e
n
h
av
e
n
o
s
ig
n
if
ican
ce
f
o
r
ex
c
ess
iv
e
ex
p
lo
r
atio
n
.
T
h
is
m
ak
es
th
e
co
n
v
er
g
en
ce
s
p
ee
d
s
lo
w
an
d
n
ee
d
s
atten
tio
n
.
R
ef
er
r
in
g
to
th
is
lim
itatio
n
,
R
R
T
*
was
im
p
r
o
v
ed
with
a
h
y
b
r
id
ap
p
r
o
ac
h
th
at
u
tili
ze
s
th
e
ar
tific
ial
p
o
ten
tial
f
ield
m
eth
o
d
[
1
9
]
-
[
2
1
]
.
T
h
e
u
s
e
o
f
APF
in
R
R
T
*
i
s
in
ten
d
ed
to
p
r
o
d
u
ce
m
o
r
e
tar
g
eted
ex
p
lo
r
atio
n
with
in
a
g
iv
en
en
v
ir
o
n
m
e
n
t
[
2
0
]
,
[
2
1
]
.
T
h
e
in
teg
r
atio
n
o
f
th
e
two
ai
m
s
to
ac
ce
ler
ate
co
n
v
er
g
en
ce
to
war
d
s
a
s
o
lu
tio
n
b
y
r
ed
u
ci
n
g
th
e
n
u
m
b
er
o
f
i
ter
atio
n
s
r
eq
u
ir
ed
,
as
well
as
r
ed
u
cin
g
ex
ec
u
tio
n
tim
e
to
r
ea
ch
th
e
o
p
tim
al
p
at
h
.
T
h
e
APF
alg
o
r
ith
m
is
k
n
o
wn
f
o
r
its
s
im
p
licity
an
d
p
o
wer
f
u
l
m
ath
em
atica
l
an
aly
s
is
,
d
esp
ite
its
lim
it
a
tio
n
to
s
tate
s
p
ac
es
o
f
u
p
to
f
iv
e
d
im
en
s
io
n
s
d
u
e
to
its
in
ab
ilit
y
to
o
p
er
ate
i
n
lo
ca
l
m
in
im
a
en
v
ir
o
n
m
en
ts
.
Ap
ar
t
f
r
o
m
th
at,
Qu
ic
k
-
R
R
T
*
h
as
also
b
ee
n
in
tr
o
d
u
ce
d
with
th
e
m
o
tiv
atio
n
o
f
a
n
ex
p
lo
r
atio
n
m
eth
o
d
with
g
o
o
d
co
n
v
er
g
e
n
ce
s
p
ee
d
[
9
]
,
[
2
2
]
.
Qu
ick
-
R
R
T
*
in
teg
r
ates
th
e
co
n
ce
p
t
o
f
tr
ian
g
le
in
eq
u
ality
to
s
p
ee
d
u
p
th
e
p
r
o
ce
s
s
o
f
d
eter
m
in
in
g
n
o
d
es
an
d
co
n
n
ec
tio
n
s
in
ex
p
lo
r
ati
o
n
tr
ee
s
.
B
y
u
s
in
g
tr
ian
g
le
in
eq
u
alities
,
Qu
ick
-
R
R
T
*
ca
n
r
ed
u
ce
th
e
n
u
m
b
er
o
f
d
is
tan
ce
ev
alu
atio
n
s
b
etwe
en
ex
is
tin
g
n
o
d
es,
r
esu
ltin
g
in
f
aster
p
ath
f
in
d
in
g
.
T
h
is
ap
p
r
o
ac
h
o
p
tim
izes
s
ea
r
ch
s
tep
s
b
y
p
r
io
r
itizin
g
ex
p
an
s
io
n
to
n
o
d
es
th
at
h
av
e
th
e
g
r
ea
test
p
r
o
b
a
b
ilit
y
o
f
d
ir
ec
tin
g
a
p
ath
to
th
e
d
esti
n
atio
n
p
o
in
t.
T
h
er
ef
o
r
e,
Qu
ic
k
-
R
R
T
*
s
ig
n
if
ican
tly
s
p
ee
d
s
u
p
th
e
m
o
tio
n
p
lan
n
in
g
p
r
o
ce
s
s
,
m
ak
in
g
it
a
n
attr
ac
tiv
e
o
p
tio
n
i
n
s
itu
atio
n
s
wh
er
e
s
p
ee
d
o
f
ex
ec
u
tio
n
is
an
im
p
o
r
t
an
t
f
ac
to
r
.
Fu
r
th
er
m
o
r
e,
b
ased
o
n
th
e
b
e
n
ef
its
o
f
b
o
th
APF
-
an
d
Qu
ick
-
b
ased
m
eth
o
d
s
,
a
h
y
b
r
id
ap
p
r
o
ac
h
s
u
ch
as
PQ
-
R
R
T
*
is
p
r
o
p
o
s
ed
,
co
m
b
in
in
g
th
e
s
tr
en
g
th
s
o
f
ea
ch
t
o
ac
h
iev
e
i
m
p
r
o
v
e
d
p
er
f
o
r
m
an
ce
in
p
lan
n
in
g
task
s
[
2
3
]
,
[
2
4
]
.
Alth
o
u
g
h
Qu
ick
-
R
R
T
*
ca
n
s
p
ee
d
u
p
t
h
e
m
o
tio
n
p
la
n
n
in
g
p
r
o
ce
s
s
b
y
u
s
in
g
th
e
co
n
ce
p
t
o
f
tr
ian
g
le
in
eq
u
ality
to
p
r
u
n
e
th
e
ev
alu
atio
n
o
f
d
is
tan
ce
s
b
etwe
en
v
er
tices,
ag
g
r
ess
iv
e
p
r
u
n
in
g
ca
n
r
esu
lt in
s
u
b
o
p
tim
al
p
ath
s
[
2
5
]
.
T
h
is
p
r
o
ce
s
s
ca
n
elim
in
ate
n
o
d
es
th
at
ar
e
im
p
o
r
tan
t
f
o
r
cr
ea
tin
g
a
b
etter
p
ath
,
an
d
r
e
s
u
lt
in
s
o
lu
tio
n
s
th
at
a
r
e
f
u
r
th
er
f
r
o
m
o
p
tim
al.
I
n
ad
d
itio
n
,
t
h
e
s
en
s
itiv
ity
to
p
ar
am
eter
s
an
d
th
e
d
if
f
icu
lty
o
f
a
d
ju
s
tm
en
t
also
m
a
k
es
t
h
e
im
p
lem
en
tatio
n
co
m
p
lex
ity
also
in
cr
ea
s
e.
T
h
er
ef
o
r
e,
o
th
e
r
m
eth
o
d
s
ar
e
in
tr
o
d
u
ce
d
with
a
f
o
c
u
s
o
n
m
ai
n
tain
in
g
s
p
ee
d
a
n
d
o
p
tim
ality
as id
ea
lly
as p
o
s
s
ib
le.
Dif
f
er
en
t
f
r
o
m
th
e
p
r
e
v
io
u
s
o
n
e,
th
is
m
eth
o
d
was
b
u
ilt
b
y
co
n
s
id
er
i
n
g
th
e
R
R
T
as
a
b
ase.
T
h
e
s
cien
tific
r
ea
s
o
n
is
t
h
e
d
esire
n
o
t
to
r
ely
o
n
r
ep
ea
ted
s
ea
r
ch
p
r
o
ce
s
s
es
as
in
R
R
T
*
.
T
h
is
m
eth
o
d
is
ca
lled
F
ast
-
R
R
T
[
2
6
]
,
[
2
7
]
.
Alth
o
u
g
h
th
er
e
is
n
o
r
ec
o
n
n
ec
tio
n
p
r
o
ce
s
s
in
th
is
m
eth
o
d
,
s
am
p
lin
g
is
ad
o
p
ted
f
r
o
m
th
e
im
p
r
o
v
e
d
-
R
R
T
.
T
h
e
im
p
r
o
v
e
m
en
t in
q
u
esti
o
n
is
th
e
ad
d
itio
n
o
f
f
ast
-
s
am
p
lin
g
an
d
r
an
d
o
m
-
s
teer
in
g
p
r
o
ce
s
s
es.
Fas
t
-
s
am
p
lin
g
is
a
way
o
f
g
en
er
atin
g
r
a
n
d
o
m
n
o
d
es
with
o
u
t
r
ep
etitio
n
in
th
e
to
u
ch
e
d
ar
ea
.
Me
an
wh
ile,
r
an
d
o
m
s
teer
in
g
is
ap
p
lied
to
co
n
tr
o
l th
e
g
e
n
er
atio
n
o
f
r
an
d
o
m
n
o
d
es in
th
e
d
ir
ec
tio
n
to
war
d
s
th
e
tar
g
et
p
o
in
t
.
On
e
ad
v
an
tag
e
o
f
im
p
r
o
v
ed
R
R
T
in
f
ast
-
R
R
T
is
th
at
it
ca
n
s
p
ee
d
u
p
ex
p
lo
r
atio
n
ev
e
n
i
n
en
v
ir
o
n
m
en
ts
with
n
ar
r
o
w
p
ass
ag
ewa
y
s
th
an
k
s
t
o
its
f
ast
-
s
am
p
lin
g
an
d
r
a
n
d
o
m
s
teer
in
g
.
Fas
t
-
s
am
p
lin
g
,
o
n
th
e
o
th
er
h
an
d
,
r
em
o
v
es
th
e
ch
an
ce
th
at
th
e
f
ir
s
t
p
ath
f
o
u
n
d
is
n
o
t
th
e
b
est
o
n
e
b
ec
au
s
e
it
r
estrict
s
s
am
p
lin
g
to
u
n
ex
p
lo
r
e
d
ar
ea
s
.
Fu
r
th
er
m
o
r
e,
o
b
tain
ed
will
h
av
e
v
er
y
lim
ited
co
n
n
ec
tio
n
o
p
tio
n
s
to
o
th
er
n
o
d
e
s
in
in
th
e
ab
s
en
ce
o
f
wir
in
g
s
u
ch
as
R
R
T
*
.
A
s
a
r
esu
lt,
th
e
n
ewly
cr
ea
ted
p
ath
will
ty
p
ically
r
e
s
em
b
le
th
e
p
r
ev
i
o
u
s
.
T
h
is
h
as a
n
im
p
ac
t o
n
th
e
p
ath
f
u
s
io
n
p
r
o
ce
s
s
,
wh
ich
o
u
g
h
t
to
b
e
at
its
b
es
t w
h
en
th
e
n
ewl
y
f
o
r
m
ed
p
ath
d
if
f
er
s
f
r
o
m
t
h
e
o
l
d
o
n
e
as
well.
T
h
er
ef
o
r
e,
t
h
e
R
R
T
*
wir
in
g
p
r
o
ce
s
s
is
u
s
ed
in
th
is
s
tu
d
y
.
I
n
ad
d
itio
n
,
F
ast
-
R
R
T
al
s
o
in
tr
o
d
u
ce
s
th
e
p
at
h
-
o
p
tim
al
s
tag
e
wh
ich
co
n
t
ain
s
a
s
eq
u
en
tial
p
r
o
ce
s
s
b
etw
ee
n
th
e
f
u
s
io
n
an
d
tu
n
in
g
p
ath
s
as
an
ef
f
o
r
t
to
m
ain
tain
th
e
o
p
tim
ality
o
f
th
e
p
ath
f
o
r
m
ed
.
T
h
u
s
,
F
ast
-
R
R
T
h
as
b
etter
p
er
f
o
r
m
an
ce
wh
e
n
co
m
p
ar
ed
t
o
R
R
T
o
r
R
R
T
*
in
ter
m
s
o
f
co
n
v
er
g
e
n
ce
s
p
ee
d
a
n
d
o
p
tim
al
ity
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
A
HB
MO
-
b
a
s
ed
b
a
tch
b
ea
c
o
n
a
d
ju
s
tmen
t fo
r
imp
r
o
vin
g
th
e
F
a
s
t
-
RRT
(
Heru
S
u
w
o
yo
)
109
Ho
wev
er
,
in
r
ea
lity
Fu
s
io
n
w
ill
o
n
ly
p
r
o
d
u
ce
n
ew
p
ath
s
th
at
ar
e
less
th
an
o
p
tim
al
an
d
s
lo
w
d
o
wn
p
lan
n
in
g
tim
e.
T
h
er
e
f
o
r
e,
t
h
er
e
n
ee
d
s
to
b
e
d
ev
elo
p
m
en
t
o
f
F
ast
-
R
R
T
with
o
b
jectiv
ity
to
r
ep
lace
th
e
f
u
s
io
n
s
tag
e.
I
n
th
is
r
esear
ch
,
th
e
h
o
n
ey
-
b
ee
m
atin
g
o
p
tim
izatio
n
(
HB
MO
)
[
2
8
]
-
[
3
2
]
m
eth
o
d
was
in
v
o
lv
ed
.
I
ts
in
v
o
lv
em
e
n
t
is
to
co
n
n
ec
t
r
an
d
o
m
n
o
d
es
ar
o
u
n
d
th
e
n
o
d
es
o
n
th
e
p
ath
r
esu
ltin
g
f
r
o
m
th
e
in
itial
F
as
t
-
R
R
T
s
tag
e
with
r
ef
e
r
en
ce
to
th
e
s
h
o
r
test
d
is
tan
ce
.
As
an
o
p
tim
izatio
n
m
eth
o
d
,
HB
MO
ca
n
b
e
ap
p
l
ied
in
d
eter
m
in
in
g
th
e
o
p
tim
al
s
o
l
u
tio
n
,
b
o
th
m
in
im
u
m
an
d
m
a
x
i
m
u
m
,
b
y
co
n
s
id
er
in
g
th
e
o
b
je
ctiv
e
f
u
n
cti
o
n
o
r
a
s
in
g
le
n
u
m
er
ical
q
u
an
tity
.
So
,
th
is
is
en
o
u
g
h
to
p
r
o
v
e
th
at
HB
MO
h
as
a
h
ig
h
lev
el
o
f
f
e
asib
ilit
y
to
r
ep
r
esen
t
th
e
ex
p
ec
ted
s
o
lu
tio
n
.
Alth
o
u
g
h
th
er
e
ar
e
m
an
y
v
ar
ian
ts
o
f
th
e
m
eth
o
d
,
s
u
ch
as
s
im
u
lated
an
n
ea
lin
g
(
SA)
[
3
1
]
,
g
r
ey
wo
lf
o
p
tim
izatio
n
(
GW
O)
[
3
3
]
-
[
3
6
]
,
ar
tific
ial
b
ee
co
lo
n
y
(
AB
C
)
[
2
9
]
,
[
3
7
]
,
[
3
8
]
,
p
ar
ticle
s
war
m
o
p
tim
izatio
n
[
3
9
]
-
[
4
2
]
,
a
n
d
g
e
n
etic
alg
o
r
ith
m
(
GA)
[
2
9
]
,
[
3
5
]
,
[
3
6
]
,
HB
MO
h
as
ca
p
a
b
ilit
ies
th
at
ca
n
n
o
t
b
e
b
y
o
th
er
m
eth
o
d
s
.
T
o
m
a
x
im
ize
th
e
o
p
tim
ality
o
f
th
e
r
esu
lts
,
HB
MO
is
ess
en
tia
lly
u
s
ed
to
co
n
tr
o
l th
e
p
o
s
itio
n
o
f
n
o
d
es
o
th
er
th
an
th
e
g
o
al
an
d
s
tar
t
co
n
tain
ed
in
.
Up
d
atin
g
th
ese
p
o
s
itio
n
s
ar
e
u
s
ed
to
o
b
tain
th
e
o
p
tim
al
p
at
h
,
,
wh
ich
is
.
is
m
ad
e
u
p
o
f
b
ea
co
n
n
o
d
es
th
at
lin
k
an
d
.
I
t
is
ev
id
en
t
th
at
th
is
p
ath
h
as
f
ewe
r
b
ea
c
o
n
n
o
d
es
th
an
all
th
e
n
o
d
es
in
,
ex
ce
p
t
f
o
r
an
d
,
s
in
ce
it
cr
ea
tes
a
co
llis
io
n
-
f
r
ee
d
ir
ec
t
co
n
n
ec
tio
n
b
etwe
en
n
o
d
es
an
d
th
e
f
ar
th
est
n
o
d
es.
T
h
en
,
in
t
h
e
HB
MO
o
p
tim
izatio
n
p
r
o
ce
s
s
,
th
e
n
u
m
b
er
o
f
b
ea
co
n
n
o
d
es,
,
is
co
n
s
id
er
ed
as
a
d
ec
is
io
n
v
ar
iab
le.
Du
e
to
th
eir
s
m
all
n
u
m
b
er
,
HB
MO
s
s
h
o
u
ld
o
p
tim
ize
th
eir
lo
ca
tio
n
s
b
y
s
h
if
tin
g
th
em
to
p
er
tin
e
n
t
ar
e
as.
Fo
r
ev
er
y
b
e
ac
o
n
n
o
d
e,
th
is
d
is
p
lace
m
en
t
is
co
n
s
tr
ain
ed
b
y
th
e
r
ad
iu
s
.
T
h
e
o
n
l
y
o
th
e
r
r
eq
u
ir
em
en
ts
f
o
r
t
h
is
d
ec
is
io
n
v
ar
ia
b
le
a
r
e
to
m
ain
tain
a
co
n
n
ec
tio
n
with
o
u
t
r
u
n
n
i
n
g
i
n
to
an
y
en
v
ir
o
n
m
e
n
tal
o
b
s
tacle
s
.
Fu
r
th
er
m
o
r
e,
th
e
f
itn
ess
f
u
n
ctio
n
u
s
ed
is
th
e
p
ath
co
s
t,
wh
ich
d
eter
m
in
es
th
e
to
tal
c
o
n
n
ec
tio
n
d
is
tan
ce
f
r
o
m
−
th
r
o
u
g
h
th
e
b
ea
co
n
n
o
d
es,
co
n
s
id
er
in
g
th
at
t
h
e
p
ath
f
r
o
m
th
e
b
ea
co
n
n
o
d
e
co
n
n
ec
tio
n
r
e
p
r
esen
ts
a
ca
n
d
id
ate
s
o
lu
t
io
n
.
T
h
er
ef
o
r
e,
it
is
ev
id
en
t
th
at
t
h
is
k
in
d
o
f
o
p
t
im
izatio
n
r
ef
er
s
to
m
in
im
izi
n
g
th
e
s
ea
r
ch
s
p
ac
e
with
in
a
tim
e
co
n
s
tr
ain
t
to
g
en
er
ate
o
p
tim
al
p
ath
s
.
T
h
e
HB
MO
g
en
er
atio
n
is
co
n
tr
o
lled
b
ased
o
n
th
e
n
u
m
b
er
o
f
s
am
p
les
lef
t
o
v
er
af
ter
r
ea
ch
in
g
th
e
d
esig
n
ated
m
ax
im
u
m
s
am
p
lin
g
b
ased
o
n
t
h
is
tim
e
r
es
tr
i
ctio
n
.
T
h
is
k
in
d
o
f
HB
MO
d
ep
lo
y
m
e
n
t
p
atter
n
en
ab
les
th
e
b
ea
co
n
n
o
d
e
to
m
o
v
e
to
a
n
ew
lo
ca
tio
n
a
n
d
p
o
s
s
ib
ly
estab
lis
h
a
d
ir
ec
t
co
n
n
e
ctio
n
with
an
o
th
e
r
b
ea
co
n
n
o
d
e
th
at
is
th
e
f
ar
th
est
awa
y
.
At
th
e
co
n
clu
s
io
n
o
f
th
e
p
r
o
ce
s
s
,
p
ath
o
p
tim
izatio
n
is
d
o
n
e
o
n
ce
m
o
r
e
b
ef
o
r
e
th
e
f
in
al
p
at
h
is
d
ec
id
ed
to
b
r
ea
k
th
e
cy
cle
o
f
f
in
d
i
n
g
th
e
b
est
p
ath
.
R
ef
er
r
in
g
to
a
s
ea
r
ch
cy
cle
lik
e
th
is
,
th
is
m
eth
o
d
was
later
n
a
m
ed
HB
MO
-
o
p
tim
ized
F
ast
-
R
R
T
*
with
th
e
latest
f
o
r
m
b
e
in
g
th
e
cr
ea
tio
n
o
f
Fas
t
-
R
R
T
wh
ich
ad
d
s
a
r
ewir
i
n
g
p
r
o
ce
s
s
,
an
d
th
e
im
p
lem
e
n
t
atio
n
o
f
HB
MO
af
ter
p
ath
o
p
t
im
izatio
n
h
as
b
ee
n
ca
r
r
ied
o
u
t.
T
h
e
p
e
r
f
o
r
m
an
ce
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
f
o
r
s
o
lv
in
g
a
g
lo
b
al
p
at
h
p
lan
n
in
g
ar
e
co
m
p
ar
ed
to
its
p
r
ed
ec
ess
o
r
,
n
a
m
ely
R
R
T
*
an
d
F
ast
-
R
R
T
,
in
ter
m
s
o
f
o
p
tim
ality
an
d
co
n
v
er
g
en
ce
r
ate
.
A
n
d
ac
co
r
d
in
g
to
th
e
co
m
p
ar
ativ
e
r
esu
lt,
th
e
p
r
o
p
o
s
ed
m
eth
o
d
s
h
o
ws a
s
ig
n
if
ican
t
im
p
r
o
v
e
m
en
t.
T
h
e
r
est
o
f
th
is
p
ap
er
is
o
r
g
an
i
ze
d
as
f
o
llo
ws:
th
e
m
ater
ial
an
d
m
eth
o
d
s
ar
e
p
r
esen
ted
in
s
ec
tio
n
two
.
I
t
co
v
er
s
th
e
p
r
o
b
lem
s
tatem
e
n
t,
F
ast
-
R
R
T
,
an
d
HB
MO
;
th
e
p
r
o
p
o
s
ed
m
eth
o
d
is
p
r
esen
ted
in
s
ec
tio
n
th
r
ee
in
clu
d
in
g
th
e
p
s
eu
d
o
co
d
e
an
d
f
lo
wch
ar
t;
th
e
r
esu
lt
a
n
d
d
is
cu
s
s
io
n
is
d
is
cu
s
s
ed
in
s
ec
tio
n
f
o
u
r
;
an
d
s
ec
tio
n
f
iv
e
p
r
esen
ts
th
e
co
n
clu
s
io
n
.
2.
M
E
T
H
O
D
I
n
th
is
s
ec
tio
n
,
th
e
m
ater
ials
an
d
m
eth
o
d
s
in
v
o
lv
e
d
in
th
is
r
esear
ch
ar
e
p
r
esen
ted
.
I
t
in
clu
d
es
th
e
p
r
o
b
lem
s
tatem
en
t,
b
r
ie
f
r
ev
i
ew
o
n
F
ast
-
R
R
T
,
an
d
h
o
n
ey
b
ee
m
atin
g
o
p
tim
izatio
n
.
T
h
e
y
ar
e
p
r
esen
ted
t
o
p
r
o
v
id
e
m
o
r
e
clar
ity
o
n
th
e
m
eth
o
d
s
th
at
h
av
e
b
ee
n
d
ev
elo
p
ed
in
th
e
n
ex
t sectio
n
.
2
.
1
.
P
r
o
blem
s
t
a
t
e
m
ent
L
e
t
∈
ℝ
i
s
r
e
p
r
e
s
e
n
t
a
t
i
o
n
o
f
s
t
a
t
e
s
p
a
c
e
f
o
r
a
p
a
t
h
p
l
a
n
n
i
n
g
p
r
o
b
l
e
m
,
w
i
t
h
∈
i
s
s
p
a
c
e
d
i
m
e
n
s
i
o
n
,
t
h
u
s
=
{
,
}
i
s
s
t
a
t
e
s
p
a
c
e
w
i
t
h
∈
r
e
f
e
r
s
t
o
o
b
s
t
a
c
l
e
c
o
o
r
d
i
n
a
t
e
s
a
n
d
∈
r
e
f
e
r
s
t
o
t
h
e
f
r
e
e
s
p
a
c
e
.
M
o
r
e
o
v
e
r
,
i
f
t
h
e
s
t
a
r
t
n
o
d
e
∈
a
n
d
g
o
a
l
n
o
d
e
∈
a
r
e
g
i
v
e
n
,
t
h
e
n
r
e
f
e
r
r
i
n
g
t
o
,
t
h
e
p
a
t
h
p
l
a
n
n
i
n
g
a
l
g
o
r
i
t
h
m
h
a
s
t
o
f
i
n
d
t
h
e
i
d
e
a
l
p
a
t
h
f
r
o
m
-
t
o
t
h
o
s
e
n
o
d
e
s
,
d
e
n
o
t
e
d
a
s
=
[
0
,
]
→
w
i
t
h
(
0
)
=
a
n
d
(
)
=
w
h
e
r
e
=
{
∈
|
−
|
<
}
f
o
r
i
s
r
a
d
i
u
s
a
r
o
u
n
d
.
2
.
2
.
F
a
s
t
-
RRT
I
n
g
en
e
r
al
,
Fas
t
-
R
R
T
co
n
s
is
t
s
o
f
two
m
ain
s
tep
s
in
s
o
lv
i
n
g
g
lo
b
al
p
ath
p
la
n
n
i
n
g
p
r
o
b
le
m
s
,
n
am
ely
I
m
p
r
o
v
ed
-
R
R
T
an
d
Fas
t
-
Op
tim
al.
R
esp
ec
tiv
ely
,
th
ey
ar
e
u
s
ed
to
f
in
d
f
ea
s
ib
le
p
ath
s
an
d
t
o
o
p
tim
ize
p
ath
s
b
y
co
m
b
in
in
g
cu
r
r
en
t
a
n
d
p
r
ev
io
u
s
p
ath
s
.
B
o
th
ar
e
ex
ec
u
ted
s
e
q
u
en
tially
to
d
eter
m
in
e
th
e
b
e
s
t
p
ath
.
T
h
is
ca
n
b
e
s
ee
n
in
Alg
o
r
ith
m
1.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
In
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
8
,
No
.
1
,
Ap
r
il
20
2
5
:
1
07
-
1
19
110
Alg
o
r
ith
m
1
.
Fas
t
-
RRT
Input:
,
,
Output: A path
connecting
and
for
=
1
:
←
(
,
,
)
if
is found
←
(
,
)
endif
endfor
B
o
th
th
e
im
p
r
o
v
ed
-
R
R
T
an
d
f
ast
-
o
p
tim
al
s
tag
es
ea
ch
h
av
e
two
s
u
b
-
s
tep
d
escr
ip
tio
n
s
w
h
ich
m
ak
e
th
em
d
if
f
er
en
t
f
r
o
m
th
eir
p
r
ed
ec
ess
o
r
,
n
am
el
y
R
R
T
.
I
n
im
p
r
o
v
e
d
-
R
R
T
th
er
e
is
f
ast
s
am
p
lin
g
wh
ich
is
d
es
ig
n
ed
n
o
t
to
r
ep
ea
t
s
am
p
lin
g
in
ar
ea
s
th
at
h
av
e
alr
ea
d
y
b
ee
n
ex
p
lo
r
e
d
,
an
d
r
a
n
d
o
m
s
teer
in
g
wh
ich
is
u
s
ed
to
ch
an
g
e
th
e
r
elatio
n
s
h
ip
b
et
wee
n
two
n
o
d
es
if
th
er
e
is
a
co
llis
io
n
with
an
o
b
s
tacle
in
th
e
en
v
ir
o
n
m
en
t.
T
h
e
r
ep
r
esen
tativ
e
alg
o
r
ith
m
f
o
r
i
m
p
r
o
v
e
d
-
RRT
ca
n
b
e
s
ee
n
in
Alg
o
r
ith
m
2
.
Alg
o
r
ith
m
2
.
I
m
p
r
o
v
e
d
-
RRT
Input:
,
,
Output: A path
connecting
and
←
(
)
←
(
,
)
←
(
,
)
←
(
,
)
if
(
,
)
←
(
,
)
if
∈
←
ℎ
(
)
endif
endif
endfor
wh
er
e
,
(
.
)
is
a
f
u
n
ctio
n
to
g
et
a
c
o
n
n
ec
tio
n
n
o
d
e
to
n
o
d
e,
(
.
)
a
p
p
en
d
s
th
e
n
o
d
e
to
tr
ee
s
,
an
d
is
a
f
ea
s
ib
le
p
ath
f
r
o
m
to
o
b
tain
ed
b
y
tr
ac
in
g
all
n
o
d
es
b
ased
th
eir
o
wn
p
a
r
en
t.
W
h
er
ea
s
(
.
)
is
s
t
ated
as sh
o
wn
in
Alg
o
r
ith
m
3
.
Alg
o
r
ith
m
3
.
Fas
t
s
am
p
lin
g
Input:
Output:
←
(
)
while
∈
←
(
)
endwhile
w
h
e
r
e
i
n
i
s
d
e
t
e
c
t
e
d
b
y
m
e
a
s
u
r
i
n
g
e
a
c
h
n
o
d
e
o
n
t
o
.
I
t
i
s
a
s
s
u
m
e
d
t
o
b
e
d
e
t
e
c
t
e
d
i
f
t
h
e
d
i
s
t
a
n
c
e
i
s
l
e
s
s
t
h
a
n
a
p
r
e
d
e
f
i
n
e
d
r
a
d
i
u
s
.
M
e
a
n
w
h
i
l
e
,
r
a
n
d
o
m
S
t
e
e
r
(
.
)
i
s
d
o
n
e
b
y
e
x
e
c
u
t
i
n
g
A
l
g
o
r
i
t
h
m
4
.
Alg
o
r
ith
m
4
.
R
an
d
o
m
s
teer
in
g
Input:
,
,
Output:
←
(
,
)
←
(
,
)
if
(
,
)
return
else
←
(
2
)
←
(
,
)
endif
wh
er
e
r
ef
er
s
to
th
e
s
teer
in
g
an
g
le
o
f
-
co
n
n
ec
tio
n
,
wh
ich
is
r
an
d
o
m
ly
g
en
e
r
ated
in
r
a
n
g
e
o
f
[
0
,
2
]
if
co
llid
es
to
th
e
o
b
s
tacle
.
An
d
(
.
)
is
a
f
u
n
ctio
n
u
s
ed
to
r
e
f
in
d
ac
co
r
d
in
g
to
an
d
.
Fu
r
th
er
m
o
r
e,
in
Fas
t
-
Op
tim
al
th
er
e
ar
e
also
two
s
u
b
s
tep
s
,
n
am
ely
p
ath
f
u
s
io
n
an
d
p
ath
tu
n
in
g
.
As
th
e
n
am
e
s
u
g
g
ests
,
f
u
s
io
n
in
v
o
lv
es
two
p
r
ev
io
u
s
ly
o
b
tain
e
d
p
ath
s
with
a
n
ewly
o
b
tain
ed
p
ath
,
wh
ich
is
th
e
n
co
m
b
in
ed
in
to
a
p
a
t
h
with
b
etter
q
u
ality
b
ased
o
n
th
e
in
ter
s
e
ctio
n
p
o
i
n
t.
Fo
r
th
e
r
ec
o
r
d
,
th
i
s
in
ter
s
ec
tio
n
p
o
i
n
t
is
th
e
in
ter
s
ec
tio
n
p
o
in
t
o
f
th
e
two
p
r
o
ce
s
s
ed
p
ath
s
,
an
d
is
o
b
tain
ed
b
y
f
i
n
d
in
g
t
h
e
av
er
ag
e
p
o
s
itio
n
b
ased
o
n
two
clo
s
e
p
o
in
ts
.
T
h
e
p
r
o
ce
s
s
o
f
p
ath
f
u
s
io
n
ca
n
b
e
s
ee
n
i
n
Alg
o
r
ith
m
5.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
A
HB
MO
-
b
a
s
ed
b
a
tch
b
ea
c
o
n
a
d
ju
s
tmen
t fo
r
imp
r
o
vin
g
th
e
F
a
s
t
-
RRT
(
Heru
S
u
w
o
yo
)
111
Alg
o
r
ith
m
5
.
Path
f
u
s
io
n
Input:
,
Output:
for each point in
for each point
if
‖
,
‖
<
ℎ
←
(
,
endif
e
ndfor
endfor
←
‖
(
)
:
(
)
‖
←
‖
(
)
:
(
)
‖
←
‖
(
)
:
(
)
‖
←
‖
(
)
:
(
)
‖
if
<
S
ub
p
a
t
h
A
=
(
)
:
(
)
else
S
ub
p
a
t
h
A
=
(
)
:
(
)
end
if
if
<
S
ub
p
a
t
h
B
=
(
)
:
(
)
else
S
ub
p
a
t
h
B
=
(
)
:
(
)
end
if
=
[
S
ub
p
a
t
hA
,
S
ub
p
a
t
hB
]
Af
ter
th
e
f
u
s
io
n
p
r
o
ce
s
s
is
co
m
p
lete,
th
e
r
esu
ltin
g
p
ath
is
th
en
tu
n
ed
u
s
in
g
th
e
p
ath
f
i
n
e
tu
n
in
g
p
r
o
ce
s
s
.
No
d
if
f
er
en
t
f
r
o
m
th
e
o
p
tim
izatio
n
p
r
o
ce
s
s
in
g
en
er
al,
th
is
p
ath
f
in
e
tu
n
in
g
ap
p
lies
tr
ian
g
u
la
r
in
eq
u
ality
to
s
h
o
r
ten
th
e
p
ath
.
W
ith
th
is
p
r
o
ce
s
s
th
e
in
itial
p
o
in
t
will
tr
y
t
o
b
e
co
n
n
ec
te
d
to
t
h
e
n
e
x
t
p
o
in
t.
W
h
en
th
er
e
is
n
o
co
llis
io
n
w
ith
an
o
b
s
tacle
,
th
e
s
tar
tin
g
p
o
in
t
is
co
n
n
ec
ted
to
a
f
u
r
th
er
p
o
in
t,
an
d
s
o
o
n
.
Ho
wev
er
,
th
e
p
o
in
t
co
n
n
ec
tio
n
is
in
v
alid
if
a
co
llis
io
n
o
cc
u
r
s
an
d
th
e
S
u
b
p
ath
is
th
e
co
n
n
ec
tio
n
b
etwe
en
t
h
e
in
itial
p
o
in
t
an
d
th
e
last
p
o
in
t
wh
ich
is
s
till
f
r
ee
o
f
o
b
s
tacle
s
,
an
d
th
e
in
itial
p
o
in
t
is
d
ete
r
m
in
ed
ag
ai
n
.
T
h
e
s
tar
tin
g
p
o
in
t
f
o
r
t
h
e
s
ec
o
n
d
S
u
b
p
ath
is
th
e
p
o
i
n
t
co
n
n
ec
ted
to
th
e
s
tar
tin
g
p
o
in
t
o
n
t
h
e
S
u
b
p
ath
th
at
h
a
s
b
ee
n
f
o
r
m
ed
.
Nex
t,
th
e
p
r
o
ce
s
s
r
e
p
ea
ts
,
u
n
til
th
e
tar
g
et
p
o
in
t
is
s
u
cc
ess
f
u
lly
co
n
n
ec
ted
t
o
th
e
l
ast
S
u
b
p
ath
.
Fin
ally
,
th
e
p
ath
g
e
n
er
ated
b
y
p
at
h
f
in
e
tu
n
in
g
c
o
m
b
in
es th
ese
S
u
b
p
ath
s
.
2
.
3
.
H
o
ney
bee
ma
t
ing
o
pti
m
iza
t
io
n (
H
B
M
O
)
As
a
p
o
ten
tial
m
eta
h
eu
r
is
ti
c
a
lg
o
r
ith
m
,
th
e
HB
MO
alg
o
r
ith
m
m
im
ics
th
e
d
r
o
n
e,
b
r
o
o
d
,
a
n
d
q
u
ee
n
.
Gen
o
ty
p
e,
s
p
ee
d
,
en
er
g
y
,
an
d
s
p
er
m
ath
ec
a
with
a
ce
r
tain
ca
p
ac
ity
a
r
e
c
h
ar
ac
ter
is
tics
o
f
ea
ch
q
u
ee
n
.
T
h
e
d
r
o
n
e'
s
s
p
er
m
s
to
r
e,
k
n
o
wn
as th
e
s
p
er
m
ath
ec
a,
is
cr
ea
ted
d
u
r
in
g
m
atin
g
with
th
e
q
u
e
e
n
.
C
o
n
s
eq
u
en
tly
,
s
p
ee
d
an
d
en
er
g
y
ar
e
in
itialized
p
r
i
o
r
to
ea
ch
m
atin
g
tr
i
p
f
o
r
q
u
ee
n
s
with
a
s
p
ec
if
ic
s
p
er
m
ath
ec
a
s
ize.
T
h
e
d
r
o
n
e
s
p
er
m
is
k
ep
t
in
th
e
q
u
ee
n
'
s
s
p
er
m
ath
ec
a
f
o
llo
win
g
a
s
u
cc
e
s
s
f
u
l
m
atin
g
attem
p
t.
T
h
e
r
e
m
ain
in
g
g
e
n
es
f
r
o
m
th
e
q
u
ee
n
'
s
g
en
o
m
e
ar
e
c
o
m
p
leted
later
in
th
e
b
r
ee
d
in
g
p
r
o
ce
s
s
,
an
d
s
o
m
e
d
r
o
n
e
g
en
es
ar
e
co
p
ied
in
to
t
h
e
p
ar
en
t'
s
g
en
o
ty
p
e
to
g
en
e
r
ate
th
e
b
r
o
o
d
.
T
h
e
q
u
ee
n
ch
o
o
s
es
a
d
r
o
n
e
at
r
an
d
o
m
f
r
o
m
th
e
i
s
s
u
e
ch
o
ice
s
p
ac
e,
an
d
m
atin
g
f
lig
h
ts
ar
e
m
ap
p
e
d
in
to
t
h
e
HB
MO
alg
o
r
ith
m
.
T
h
e
q
u
ee
n
'
s
s
p
er
m
ath
ec
a
co
n
t
ain
s
th
e
g
en
o
m
e
o
f
ev
er
y
d
r
o
n
e
th
at
m
ates
s
u
cc
e
s
s
f
u
lly
.
Ad
d
itio
n
ally
,
in
ea
ch
iter
atio
n
o
f
th
e
HB
MO
alg
o
r
i
th
m
,
all
d
r
o
n
es
lef
t
af
ter
th
e
m
atin
g
f
lig
h
t
wer
e
d
estro
y
ed
to
s
im
u
late
d
r
o
n
e
m
o
r
tality
at
th
e
en
d
o
f
th
e
b
r
ee
d
in
g
s
ea
s
o
n
.
Mo
d
el
wo
r
k
er
b
ee
s
u
s
e
h
eu
r
is
tic
f
u
n
c
tio
n
s
to
tr
y
t
o
en
h
an
ce
th
e
q
u
a
lity
o
f
th
eir
b
r
o
o
d
.
As
a
p
o
ten
t
ial
g
en
etic
a
n
s
wer
,
th
e
HB
MO
alg
o
r
ith
m
m
im
ics
th
e
d
r
o
n
e,
b
r
o
o
d
,
an
d
q
u
e
en
.
W
o
r
k
er
s
'
b
r
o
o
d
ca
r
e
is
tr
an
s
lated
in
to
an
alg
o
r
ith
m
th
at
u
s
es
h
eu
r
is
tic
f
u
n
ctio
n
s
to
im
p
r
o
v
e
b
r
o
o
d
.
T
h
e
d
r
o
n
e'
s
s
p
er
m
s
to
r
e,
k
n
o
w
n
as
th
e
s
p
er
m
ath
ec
a,
is
cr
ea
ted
d
u
r
in
g
m
atin
g
with
th
e
q
u
ee
n
.
C
o
n
s
eq
u
en
tly
,
s
p
ee
d
an
d
en
er
g
y
ar
e
in
itialized
p
r
io
r
to
ea
ch
m
atin
g
tr
ip
f
o
r
q
u
ee
n
s
with
a
s
p
ec
i
f
ic
s
p
er
m
ath
ec
a
s
ize.
T
h
e
d
r
o
n
e
s
p
er
m
is
k
ep
t
in
t
h
e
q
u
ee
n
'
s
s
p
er
m
ath
ec
a
f
o
llo
win
g
a
s
u
cc
ess
f
u
l
m
atin
g
attem
p
t.
T
h
e
r
em
ain
in
g
g
e
n
e
s
f
r
o
m
th
e
q
u
ee
n
'
s
g
en
o
m
e
ar
e
co
m
p
leted
later
in
th
e
b
r
ee
d
in
g
p
r
o
ce
s
s
,
an
d
s
o
m
e
d
r
o
n
e
g
en
es
ar
e
co
p
ied
in
to
th
e
p
ar
en
t'
s
g
en
o
ty
p
e
to
g
en
er
ate
th
e
b
r
o
o
d
.
T
h
e
q
u
ee
n
c
h
o
o
s
es
a
d
r
o
n
e
at
r
a
n
d
o
m
f
r
o
m
th
e
is
s
u
e
ch
o
ice
s
p
ac
e,
an
d
m
ati
n
g
f
lig
h
ts
ar
e
m
ap
p
ed
in
to
th
e
HB
MO
alg
o
r
ith
m
.
T
h
e
q
u
ee
n
'
s
s
p
er
m
ath
ec
a
co
n
tain
s
th
e
g
en
o
m
e
o
f
e
v
er
y
d
r
o
n
e
th
at
m
ates
s
u
cc
ess
f
u
lly
.
Nex
t,
a
d
r
o
n
e
(
s
o
lu
tio
n
)
is
ch
o
s
en
at
r
an
d
o
m
f
r
o
m
th
e
d
ec
is
io
n
s
p
ac
e
to
m
ate
with
t
h
e
q
u
ee
n
u
s
in
g
m
atin
g
f
lig
h
t.
E
ac
h
ch
o
s
en
d
r
o
n
e'
s
g
en
o
m
e
i
s
k
ep
t
in
th
e
s
p
er
m
ath
ec
a
o
f
t
h
e
q
u
ee
n
.
E
ac
h
ch
o
s
en
d
r
o
n
e'
s
g
en
o
m
e
is
k
e
p
t
in
th
e
s
p
er
m
ath
ec
a
o
f
th
e
q
u
ee
n
.
B
y
u
s
in
g
cr
o
s
s
o
v
er
a
n
d
m
u
tati
o
n
o
p
er
ato
r
s
b
etwe
en
th
e
q
u
ee
n
an
d
th
e
s
o
lu
tio
n
k
ep
t
in
th
e
q
u
ee
n
'
s
s
p
er
m
ath
ec
a,
d
ip
lo
id
b
r
o
o
d
s
to
ck
a
r
e
p
r
o
d
u
ce
d
.
B
y
u
s
in
g
cr
o
s
s
o
v
er
a
n
d
m
u
tatio
n
o
p
er
ato
r
s
b
etwe
en
th
e
q
u
ee
n
an
d
th
e
s
o
lu
tio
n
k
ep
t
in
th
e
q
u
ee
n
'
s
s
p
er
m
ath
ec
a,
d
ip
lo
i
d
b
r
o
o
d
s
to
c
k
ar
e
p
r
o
d
u
ce
d
.
T
o
en
h
an
ce
t
h
e
q
u
ality
o
f
th
e
b
r
o
o
d
,
th
e
h
eu
r
is
tic
f
u
n
ctio
n
t
h
at
s
im
u
lates
wo
r
k
er
b
ee
s
is
u
s
ed
.
T
h
e
HB
MO
alg
o
r
ith
m
'
s
f
lo
w
d
iag
r
am
is
s
h
o
wn
in
Fig
u
r
e
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
In
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
8
,
No
.
1
,
Ap
r
il
20
2
5
:
1
07
-
1
19
112
Fig
u
r
e
1
.
Flo
wch
ar
t
o
f
HB
MO
3.
P
RO
P
O
SE
D
M
E
T
H
O
D
T
h
e
f
a
s
t
-
s
am
p
l
in
g
a
n
d
r
an
d
o
m
s
t
e
er
i
n
g
f
o
u
n
d
in
im
p
r
o
v
ed
-
R
R
T
in
F
a
s
t
-
R
R
T
h
av
e
th
e
a
d
v
an
t
a
g
e
o
f
b
e
i
n
g
ab
l
e
to
s
p
e
ed
u
p
t
h
e
ex
p
lo
r
a
t
io
n
p
r
o
c
e
s
s
,
ev
en
i
n
e
n
v
i
r
o
n
m
e
n
t
s
w
i
th
n
ar
r
o
w
p
a
s
s
a
g
e
w
ay
s
.
H
o
w
e
v
er
,
f
a
s
t
-
s
a
m
p
l
i
n
g
,
w
h
i
c
h
l
i
m
i
t
s
s
am
p
l
in
g
t
o
a
r
e
as
t
h
a
t
h
a
v
e
n
o
t
y
e
t
b
e
e
n
e
x
p
lo
r
ed
,
a
c
t
u
a
l
ly
e
l
i
m
i
n
a
t
e
s
th
e
p
o
s
s
i
b
i
l
i
ty
t
h
a
t
t
h
e
i
n
i
t
ia
l
p
a
th
o
b
t
a
in
e
d
i
s
l
es
s
t
h
a
n
o
p
t
i
m
a
l.
I
n
a
d
d
i
t
i
o
n
,
w
i
t
h
o
u
t
w
i
r
in
g
s
u
c
h
a
s
R
R
T
*
,
o
b
t
a
in
ed
w
i
l
l
h
av
e
v
e
r
y
f
e
w
co
n
n
e
c
t
io
n
o
p
t
io
n
s
to
o
th
e
r
n
o
d
e
s
i
n
.
S
o
,
th
e
n
e
w
p
a
t
h
th
a
t
i
s
f
o
r
m
e
d
w
i
l
l
t
en
d
to
h
av
e
s
im
i
l
a
r
i
t
i
e
s
t
o
th
e
p
r
ev
i
o
u
s
.
T
h
i
s
a
f
f
e
c
t
s
t
h
e
p
a
t
h
f
u
s
i
o
n
p
r
o
c
e
s
s
w
h
i
c
h
s
h
o
u
ld
b
e
o
p
t
i
m
a
l
wh
e
n
th
e
n
e
w
p
a
th
f
o
r
m
e
d
a
l
s
o
h
a
s
v
a
r
i
a
t
io
n
s
f
r
o
m
t
h
e
p
r
e
v
io
u
s
o
n
e.
T
h
u
s
,
in
t
h
i
s
r
e
s
e
a
r
ch
t
h
e
w
i
r
i
n
g
p
r
o
c
e
s
s
o
n
th
e
R
R
T
*
i
s
ap
p
l
i
ed
.
I
n
t
h
e
p
r
o
p
o
s
ed
m
e
th
o
d
,
t
h
e
im
p
l
em
e
n
t
a
t
i
o
n
i
s
ca
r
r
ie
d
o
u
t
a
f
t
er
ed
g
e
i
s
o
b
t
a
in
e
d
.
Af
ter
is
ad
d
ed
to
tr
ee
an
d
its
p
ar
en
t
is
ass
ig
n
ed
,
th
e
ex
p
lo
r
atio
n
p
r
o
ce
s
s
is
r
ep
ea
ted
u
n
til
th
e
ter
m
in
atio
n
c
r
iter
io
n
is
m
et,
n
am
ely
wh
e
n
∈
.
T
h
is
p
r
o
ce
s
s
th
e
n
p
r
o
d
u
ce
s
r
esu
lts
in
th
e
f
o
r
m
o
f
th
e
in
itial
p
ath
.
I
n
s
tead
o
f
a
p
p
l
y
in
g
Fas
t
Op
tim
al,
in
th
is
r
e
s
ea
r
ch
th
e
a
p
p
licatio
n
o
f
t
h
e
m
etah
eu
r
is
tic
A
lg
o
r
ith
m
6
,
HB
MO
,
was
ca
r
r
ied
o
u
t.
T
h
is
im
p
lem
e
n
tatio
n
is
b
ased
o
n
th
e
s
h
o
r
tco
m
in
g
s
o
f
p
at
h
f
u
s
io
n
f
o
u
n
d
in
Fas
t
-
R
R
T
,
n
am
ely
th
at
it
h
as
th
e
p
o
ten
tial
to
n
o
t
b
e
ex
ec
u
ted
b
ec
au
s
e,
n
ewly
v
ar
i
ed
p
ath
s
ar
e
r
ar
ely
o
b
tain
ed
b
y
s
im
p
ly
in
cr
ea
s
in
g
s
am
p
lin
g
o
n
ly
.
An
o
th
er
r
ea
s
o
n
is
th
at
i
t
tak
es
q
u
ite
a
lo
n
g
tim
e
to
ex
ec
u
te
th
e
p
ath
f
u
s
io
n
p
r
o
ce
s
s
.
T
h
er
ef
o
r
e
,
th
is
is
co
n
tr
ar
y
to
th
e
in
itial m
o
tiv
atio
n
o
f
f
ast
s
am
p
lin
g
,
wh
ich
was
h
eld
with
th
e
aim
o
f
in
c
r
ea
s
in
g
th
e
c
o
n
v
er
g
en
ce
r
ate
o
f
Fas
t
-
RRT
.
B
asically
,
H
B
MO
is
ca
r
r
ied
o
u
t
to
r
eg
u
late
th
e
p
o
s
itio
n
o
f
n
o
d
es
o
th
er
th
a
n
th
e
g
o
al
an
d
s
tar
t
co
n
tain
ed
in
as
an
ef
f
o
r
t
to
in
cr
ea
s
e
th
e
o
p
tim
ality
o
f
r
esu
lts
.
T
h
e
b
est
b
ee
ca
n
d
id
ate,
wh
ich
s
u
cc
ess
f
u
lly
s
h
o
ws
th
e
s
h
o
r
test
p
ath
v
alu
e,
is
ass
u
m
ed
to
b
e
th
e
q
u
ee
n
in
HB
MO
.
T
h
is
q
u
ee
n
will
th
e
n
b
e
m
ated
with
th
e
d
r
o
n
e.
T
h
e
b
ee
s
t
h
at
ar
e
n
o
t
s
elec
ted
as
q
u
ee
n
s
ar
e
as
s
u
m
ed
to
b
e
d
r
o
n
e
ca
n
d
id
ates.
B
y
u
tili
zin
g
r
o
u
lette
wh
ee
l
s
elec
tio
n
,
d
r
o
n
e
ca
n
d
i
d
ates
will
b
e
s
elec
ted
.
T
ec
h
n
ically
,
th
is
s
elec
tio
n
r
e
f
er
s
to
th
e
r
esu
lts
o
f
th
e
p
r
ev
io
u
s
f
itn
ess
ca
lcu
latio
n
.
T
h
e
to
tal
o
f
th
e
o
v
er
all
f
it
n
ess
b
ec
o
m
es
th
e
d
iv
is
o
r
,
f
o
r
ea
c
h
d
r
o
n
e
f
itn
ess
.
Her
e,
th
e
r
ep
r
esen
tatio
n
v
alu
e
will
b
e
o
b
tain
ed
wh
ic
h
is
th
en
u
s
ed
as
a
r
ef
e
r
en
ce
in
m
ak
i
n
g
th
e
C
u
m
u
lativ
e
Pro
b
ab
ilit
y
Dis
tr
ib
u
tio
n
.
T
h
e
n
b
y
cr
ea
ti
n
g
a
cu
m
u
lativ
e
p
r
o
b
a
b
ilit
y
ar
r
ay
,
r
o
u
lette
wh
ee
l
s
elec
tio
n
is
s
im
u
lated
.
T
h
is
cu
m
u
lativ
e
p
r
o
b
ab
ilit
y
ar
r
ay
is
a
r
e
f
er
en
ce
wh
er
e
ea
ch
i
n
d
iv
id
u
al
o
cc
u
p
i
es
a
wh
ee
l
s
eg
m
en
t
th
at
is
p
r
o
p
o
r
tio
n
al
to
its
s
elec
tio
n
p
r
o
b
ab
ilit
y
.
Ass
u
m
in
g
th
at
th
e
r
o
u
lette
wh
ee
l
s
elec
to
r
i
s
a
r
an
d
o
m
n
u
m
b
er
f
r
o
m
0
-
1
,
th
e
n
clea
r
ly
th
e
c
o
o
r
d
i
n
ates
o
f
th
e
n
o
d
e
t
h
at
p
r
o
d
u
ce
s
a
s
h
o
r
ter
d
is
tan
ce
th
an
th
e
o
th
er
s
h
av
e
th
e
p
o
ten
tial
to
b
e
s
elec
ted
as
a
d
r
o
n
e.
Af
te
r
th
e
d
r
o
n
e
is
s
elec
ted
,
th
e
s
im
u
latio
n
o
f
t
h
e
m
ati
n
g
p
r
o
ce
s
s
b
etwe
en
th
e
d
r
o
n
e
an
d
th
e
q
u
ee
n
is
ca
r
r
ied
o
u
t.
I
n
t
h
is
s
im
u
latio
n
,
t
h
e
p
r
in
c
i
p
les
o
f
cr
o
s
s
o
v
er
an
d
m
u
tatio
n
a
r
e
ca
r
r
ied
o
u
t.
B
o
th
p
r
o
ce
s
s
es
in
v
o
lv
e
c
h
an
g
in
g
th
e
co
o
r
d
in
ate
d
ata
in
to
b
in
ar
y
f
o
r
m
.
I
n
th
is
s
tu
d
y
,
th
e
co
o
r
d
i
n
ate
v
alu
e
was
ch
an
g
ed
to
8
-
b
it
b
in
ar
y
.
I
n
th
e
cr
o
s
s
o
v
er
p
r
o
ce
s
s
,
th
e
g
o
o
d
b
its
o
n
th
e
q
u
ee
n
an
d
d
r
o
n
e
a
r
e
ex
c
h
a
n
g
e
d
u
s
in
g
th
e
s
in
g
le
-
p
o
i
n
t
cr
o
s
s
o
v
er
m
eth
o
d
.
T
h
e
cr
o
s
s
o
v
er
p
o
i
n
t
d
iv
id
es
th
e
ch
r
o
m
o
s
o
m
e
in
t
o
two
p
ar
ts
o
n
ea
ch
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
A
HB
MO
-
b
a
s
ed
b
a
tch
b
ea
c
o
n
a
d
ju
s
tmen
t fo
r
imp
r
o
vin
g
th
e
F
a
s
t
-
RRT
(
Heru
S
u
w
o
yo
)
113
d
r
o
n
e
an
d
q
u
ee
n
.
An
d
th
e
ex
c
h
an
g
e
is
d
o
n
e
o
n
th
e
b
it
co
llec
tio
n
af
ter
th
e
cr
o
s
s
o
v
er
p
o
in
t.
W
h
ile
in
m
u
tatio
n
,
wh
ich
is
d
o
n
e
af
ter
th
e
c
r
o
s
s
o
v
er
is
co
m
p
lete,
th
e
s
tu
d
y
a
p
p
lies
b
it
f
lip
p
in
g
to
th
e
ch
r
o
m
o
s
o
m
es
o
f
b
o
th
d
r
o
n
es
an
d
q
u
ee
n
s
.
T
h
e
r
esu
l
ts
o
f
th
e
cr
o
s
s
o
v
er
an
d
m
u
tat
io
n
p
r
o
ce
s
s
es
ar
e
th
en
ca
lled
b
r
o
o
d
in
Fig
u
r
e
1
.
Nex
t,
b
o
th
o
f
th
em
wh
ich
r
e
p
r
esen
t
th
e
ch
ar
ac
ter
s
o
f
th
e
d
r
o
n
e
an
d
q
u
ee
n
ar
e
te
s
ted
b
ased
o
n
th
eir
f
itn
ess
v
alu
es.
T
h
is
is
to
en
s
u
r
e
th
at
b
etwe
en
th
e
two
t
h
er
e
is
o
n
e
t
h
at
is
b
etter
th
an
th
e
q
u
ee
n
.
I
f
n
o
t,
th
e
q
u
ee
n
will
b
e
th
e
s
am
e
an
d
th
e
d
r
o
n
e
s
elec
tio
n
is
r
ep
ea
ted
.
An
d
s
o
o
n
,
u
n
til
a
b
etter
b
r
o
o
d
is
p
r
o
d
u
ce
d
,
wh
ich
th
en
r
ep
lace
s
th
e
d
r
o
n
e
a
n
d
q
u
ee
n
i
n
th
e
n
ex
t
iter
atio
n
/g
e
n
er
atio
n
.
T
h
is
iter
atio
n
is
s
et
5
tim
es
wh
ich
is
eq
u
iv
alen
t
to
th
e
r
ep
etitio
n
o
f
th
e
r
an
d
o
m
n
o
d
e
g
en
er
atin
g
p
r
o
ce
s
s
in
t
h
e
p
ath
o
p
tim
izatio
n
s
p
ac
e,
s
o
t
h
at
r
ep
o
s
itio
n
d
o
es
n
o
t
r
e
d
u
ce
th
e
q
u
o
ta
o
f
th
e
o
p
tim
izatio
n
its
elf
.
Af
ter
th
e
ter
m
in
atio
n
cr
iter
ia
ar
e
m
et,
an
o
t
h
er
b
ea
co
n
r
ep
o
s
itio
n
is
ca
r
r
ied
o
u
t.
Gr
ad
u
ally
,
th
e
r
a
n
d
o
m
ap
p
o
in
tm
e
n
t
o
f
b
ea
co
n
s
th
at
ar
e
r
ep
o
s
itio
n
ed
is
w
h
at
m
a
k
es
th
e
p
r
o
p
o
s
al
ca
lled
th
e
b
atch
b
ea
co
n
o
p
tim
izatio
n
m
eth
o
d
.
T
h
is
p
r
o
ce
s
s
s
to
r
es
an
d
as
a
n
o
te,
th
e
i
s
wh
ich
h
as
b
ee
n
o
p
tim
ized
b
y
ap
p
ly
in
g
Alg
o
r
ith
m
7
.
co
n
s
is
t
s
o
f
b
ea
co
n
n
o
d
es
co
n
n
ec
tin
g
with
.
B
ec
au
s
e
it
im
p
lem
en
ts
a
d
i
r
ec
t
co
n
n
ec
tio
n
o
f
n
o
d
es
t
o
t
h
e
f
u
r
th
est
n
o
d
es
th
at
is
co
lli
s
io
n
-
f
r
ee
,
t
h
e
n
u
m
b
er
o
f
b
ea
c
o
n
n
o
d
es
o
f
th
is
p
ath
is
clea
r
ly
less
th
an
all
th
e
n
o
d
es
co
n
tain
e
d
in
o
th
er
th
an
an
d
.
T
h
e
n
u
m
b
er
o
f
b
ea
co
n
n
o
d
e
s
is
th
en
c
o
n
s
id
er
ed
as
a
d
ec
is
io
n
v
ar
iab
le
i
n
th
e
o
p
tim
izat
io
n
p
r
o
ce
s
s
u
s
in
g
HB
M
O.
T
h
e
s
m
all
n
u
m
b
er
m
ak
es
it
r
elev
an
t
f
o
r
H
B
MO
s
to
ca
r
r
y
o
u
t
o
p
tim
izatio
n
b
y
m
o
v
i
n
g
th
eir
lo
ca
tio
n
s
to
r
elev
an
t
ar
ea
s
.
T
h
is
d
is
p
lace
m
en
t
is
lim
ited
b
y
t
h
e
r
ad
iu
s
f
o
r
all
b
ea
co
n
n
o
d
e
s
.
Ap
ar
t
f
r
o
m
th
at,
th
e
cr
iter
ia
f
o
r
th
is
d
ec
is
io
n
v
ar
iab
le
ar
e
to
ad
h
er
e
to
a
c
o
n
n
ec
tio
n
with
o
u
t
co
llis
io
n
s
with
o
b
s
tacle
s
in
th
e
en
v
ir
o
n
m
en
t.
Fu
r
th
e
r
m
o
r
e,
c
o
n
s
id
er
in
g
th
at
th
e
p
ath
f
r
o
m
t
h
e
b
ea
co
n
n
o
d
e
r
e
p
r
esen
ts
a
ca
n
d
id
ate
s
o
lu
tio
n
,
th
e
f
itn
ess
f
u
n
ctio
n
u
s
ed
is
th
e
p
ath
co
s
t
wh
ich
ca
lcu
lates
t
h
e
to
tal
co
n
n
ec
tio
n
d
is
tan
ce
f
r
o
m
−
th
r
o
u
g
h
th
e
b
ea
co
n
n
o
d
es.
T
h
u
s
,
f
o
r
th
e
p
u
r
p
o
s
e
o
f
g
en
e
r
atin
g
o
p
tim
al
p
ath
s
th
is
ty
p
e
o
f
o
p
tim
izatio
n
r
ef
er
s
to
m
in
im
izin
g
th
e
s
ea
r
ch
s
p
ac
e
with
lim
ited
tim
e.
B
ased
o
n
th
is
tim
e
lim
itatio
n
,
th
e
H
B
MO
g
en
er
atio
n
is
r
eg
u
lated
ac
c
o
r
d
in
g
to
th
e
n
u
m
b
er
o
f
r
e
m
ain
in
g
s
am
p
les
to
war
d
s
th
e
s
p
ec
if
ied
m
ax
im
u
m
s
am
p
lin
g
.
HB
MO
with
a
d
ep
lo
y
m
en
t
p
atter
n
lik
e
th
is
allo
ws
th
e
b
ea
co
n
n
o
d
e
to
s
h
if
t
to
an
o
th
er
ar
ea
,
with
th
e
p
o
ten
tia
l
to
b
e
co
n
n
ec
ted
d
ir
ec
tly
to
an
o
th
er
f
ar
th
est
b
ea
co
n
n
o
d
e.
So
as
to
en
d
th
e
cy
cle
o
f
d
eter
m
in
i
n
g
th
e
b
est
p
ath
,
p
ath
o
p
tim
izatio
n
is
ca
r
r
ied
o
u
t
ag
ain
at
t
h
e
e
n
d
o
f
th
e
p
r
o
ce
s
s
b
ef
o
r
e
th
e
f
in
al
p
ath
is
d
eter
m
in
ed
.
Ov
er
all,
t
h
is
p
r
o
p
o
s
ed
m
eth
o
d
ca
n
b
e
s
ee
n
in
th
e
f
lo
wch
a
r
t in
Fig
u
r
e
2
.
Alg
o
r
ith
m
6
.
HB
MO
-
o
p
tim
ized
Fas
t
-
RRT
*
Input:
,
,
Output: A path
connecting
and
for
=
1
:
←
(
)
←
(
,
)
←
(
,
)
←
(
,
)
if
(
,
)
←
(
,
,
)
←
ℎ
(
,
,
,
)
←
(
,
,
,
)
←
(
,
,
)
if
∈
←
ℎ
(
)
←
ℎ
(
,
)
←
(
,
,
+
1
)
endif
endif
endfor
Alg
o
r
ith
m
7
.
Op
tim
ize
p
ath
Input:
,
Output:
=
[
]
ℎ
=
1
for
=
1
:
ℎ
(
)
−
1
←
(
ℎ
,
)
if
(
,
)
continue
else
ℎ
←
1
:
−
1
ℎ
=
−
1
←
(
ℎ
)
endif
endfor
←
(
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
In
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
8
,
No
.
1
,
Ap
r
il
20
2
5
:
1
07
-
1
19
114
Fig
u
r
e
2
.
Flo
wch
ar
t
o
f
p
r
o
p
o
s
ed
alg
o
r
ith
m
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
To
v
er
if
y
ef
f
ec
tiv
en
ess
,
th
e
p
r
o
p
o
s
ed
m
eth
o
d
is
ap
p
lied
t
o
s
o
lv
e
g
lo
b
al
p
ath
p
lan
n
in
g
p
r
o
b
lem
s
.
T
h
er
e
ar
e
3
ty
p
es
o
f
en
v
ir
o
n
m
en
tal
m
o
d
els,
ca
teg
o
r
ized
i
n
to
m
az
e
en
v
ir
o
n
m
en
ts
with
wid
e
h
allway
s
an
d
m
az
es
with
n
ar
r
o
w
h
allway
s
,
wh
ich
will
b
e
u
s
ed
f
o
r
th
is
tr
i
al
.
I
t
is
n
o
t
o
n
l
y
th
e
s
u
cc
ess
o
f
th
e
m
eth
o
d
th
at
is
to
b
e
test
ed
th
r
o
u
g
h
th
is
ex
p
e
r
im
en
t
an
d
test
in
g
,
b
u
t
also
t
h
e
v
alid
ity
o
f
th
e
ef
f
ec
tiv
e
n
ess
o
f
th
e
m
et
h
o
d
in
ter
m
s
o
f
o
p
tim
ality
an
d
co
n
v
e
r
g
en
ce
r
ate.
T
h
is
b
asis
is
th
e
b
asis
f
o
r
test
in
g
wh
ich
will
in
v
o
lv
e
co
m
p
ar
is
o
n
s
with
p
r
ev
io
u
s
m
eth
o
d
s
,
s
u
ch
as
R
R
T
-
Star
,
Fas
t
-
RRT
,
an
d
HB
MO
-
ass
is
ted
Fa
s
t
-
R
R
T
.
T
o
o
b
tain
a
f
air
co
m
p
ar
is
o
n
an
d
an
aly
s
is
,
th
e
p
ar
am
eter
izatio
n
an
d
d
ete
r
m
in
atio
n
o
f
s
tar
t
p
o
in
ts
,
an
d
g
o
al
p
o
in
ts
ar
e
eq
u
alize
d
.
T
h
e
s
tar
tin
g
p
o
in
t
i
s
p
lace
d
at
(
5
,
7
5
)
an
d
th
e
g
o
al
p
o
in
t
at
(
7
5
,
5
)
with
th
e
n
u
m
b
er
o
f
s
am
p
lin
g
s
allo
wed
s
et
b
ased
o
n
th
e
c
o
m
p
lex
ity
o
f
th
e
test
en
v
ir
o
n
m
en
t.
Fo
r
a
co
m
p
ar
is
o
n
o
f
th
e
p
er
f
o
r
m
an
ce
o
f
t
h
e
th
r
ee
m
eth
o
d
s
f
o
r
t
h
e
f
ir
s
t e
n
v
ir
o
n
m
en
t,
i
n
Fig
u
r
e
3
.
As
s
h
o
wn
in
Fig
u
r
e
3
,
th
e
th
r
ee
d
if
f
er
e
n
t
m
eth
o
d
s
ca
n
p
r
o
p
er
ly
s
o
lv
e
t
h
e
p
r
o
b
lem
with
a
s
am
p
lin
g
tim
e
o
f
1
5
0
0
.
Ho
wev
er
,
th
eir
s
am
p
lin
g
r
eq
u
ir
em
en
ts
to
f
in
d
th
e
in
itial
p
ath
ar
e
d
i
f
f
er
en
t
to
ea
ch
o
th
er
.
T
h
e
R
R
T
*
r
eq
u
ir
es 1
2
0
3
r
e
p
etitiv
e
s
am
p
lin
g
as c
an
b
e
s
ee
n
in
Fig
u
r
e
3
(
a)
,
Fas
t
-
R
R
T
r
eq
u
ir
es 1
0
9
4
as c
an
b
e
s
ee
n
in
Fig
u
r
e
3
(
b
)
,
an
d
th
e
p
r
o
p
o
s
ed
m
eth
o
d
is
1
0
0
9
as
ca
n
b
e
s
ee
n
in
Fig
u
r
e
3
(
c)
.
T
h
is
s
h
o
ws
th
at
th
e
p
r
o
p
o
s
e
d
m
eth
o
d
is
lik
e
Fas
t
-
R
R
T
f
o
r
t
h
e
co
n
v
er
g
e
n
ce
r
ate
v
alu
e
.
T
h
is
ac
h
iev
em
en
t
is
lo
g
ical,
b
e
ca
u
s
e
th
e
p
r
o
p
o
s
ed
m
eth
o
d
ap
p
lies
th
e
s
am
e
tech
n
iq
u
es
d
u
r
i
n
g
ex
p
lo
r
atio
n
,
n
a
m
ely
,
th
e
ap
p
licatio
n
o
f
f
ast
s
am
p
lin
g
an
d
r
an
d
o
m
s
teer
in
g
.
Ho
wev
e
r
,
r
ef
er
r
i
n
g
to
th
e
co
s
t
p
ath
s
h
o
wn
i
n
Fig
u
r
e
3
,
th
e
p
r
o
p
o
s
ed
m
eth
o
d
p
r
o
v
id
es
b
etter
v
alu
es
th
an
th
e
two
p
r
ed
ec
ess
o
r
m
et
h
o
d
s
.
T
h
is
p
r
o
v
es
th
at
th
e
p
r
o
p
o
s
ed
m
eth
o
d
ca
n
p
r
o
v
id
e
m
o
r
e
o
p
tim
al
v
alu
es
ev
en
th
o
u
g
h
th
er
e
a
r
e
s
am
p
lin
g
r
estrictio
n
s
allo
wed
d
u
r
in
g
p
r
o
b
lem
s
o
lv
in
g
.
As
n
o
te,
th
e
r
ed
b
u
llets
ar
e
th
e
b
ea
co
n
co
n
tain
e
d
b
y
p
ath
b
ef
o
r
e
th
e
o
p
tim
izatio
n
co
n
d
u
cted
.
T
h
e
g
r
ee
n
b
u
llets
ar
e
t
h
e
r
e
p
r
esen
tativ
e
b
ea
co
n
s
af
ter
th
ey
ar
e
au
to
m
atica
lly
ad
ju
s
ted
b
y
HB
MO
.
Acc
o
r
d
in
g
to
th
e
d
u
r
atio
n
f
o
r
all
p
r
o
c
ess
es,
th
e
p
r
o
p
o
s
ed
m
eth
o
d
also
f
aster
th
a
n
o
th
e
r
i
n
v
o
lv
e
d
m
eth
o
d
s
in
T
ab
le
1
.
Up
to
th
is
p
o
in
t,
th
e
HB
MO
s
h
o
ws
its
r
o
le
to
im
p
r
o
v
e
o
p
tim
ality
o
f
p
r
e
v
io
u
s
p
ath
.
Ho
w
ev
er
,
ex
p
er
im
en
ts
o
n
th
e
1
s
t
en
v
ir
o
n
m
en
t
al
o
n
e
ar
e
n
o
t
e
n
o
u
g
h
to
p
r
o
v
e
th
at
th
e
p
r
o
p
o
s
ed
m
eth
o
d
is
m
o
r
e
ef
f
ec
tiv
e.
T
h
er
ef
o
r
e,
a
s
ec
o
n
d
ex
p
er
im
en
t
was
ca
r
r
ied
o
u
t
an
d
th
e
r
esu
lts
ca
n
b
e
s
ee
n
v
i
s
u
ally
in
Fig
u
r
e
4
.
B
y
co
n
tin
u
in
g
to
u
s
e
th
e
p
er
m
itted
n
u
m
b
e
r
o
f
s
am
p
les,
n
am
ely
7
0
0
0
tim
es,
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
th
r
ee
m
eth
o
d
s
was
co
m
p
ar
ed
ag
ain
.
I
n
th
is
s
ec
o
n
d
en
v
ir
o
n
m
en
t,
th
er
e
ar
e
a
n
u
m
b
er
o
f
p
ass
ag
es
with
n
ar
r
o
wer
d
is
tan
ce
s
an
d
it
is
m
an
d
ato
r
y
to
p
ass
th
em
to
b
e
ab
le
to
ex
p
lo
r
e
t
h
e
ar
ea
n
ea
r
th
e
g
o
al
p
o
in
t.
Ac
co
r
d
i
n
g
to
t
h
e
r
eq
u
ir
e
d
s
am
p
lin
g
tim
e,
R
R
T
*
n
ee
d
s
6
4
3
0
tim
es
o
f
s
am
p
lin
g
t
o
g
et
th
e
in
itial
p
ath
,
Fas
t
-
R
R
T
n
ee
d
s
5
4
6
3
tim
es,
an
d
th
e
p
r
o
p
o
s
ed
m
eth
o
d
5
3
4
6
tim
es.
T
h
e
n
ee
d
f
o
r
lar
g
er
s
am
p
lin
g
s
h
o
ws
th
at
th
e
R
R
T
*
is
h
av
in
g
d
if
f
icu
lty
ca
r
r
y
in
g
o
u
t e
x
p
lo
r
atio
n
b
y
r
el
y
in
g
o
n
l
y
o
n
u
n
if
o
r
m
l
y
g
en
er
a
ted
s
am
p
lin
g
as c
an
b
e
s
ee
n
in
Fig
u
r
e
4
(
a)
.
So
,
it
ca
n
b
e
s
aid
th
at
b
y
m
ai
n
tain
in
g
th
e
im
p
r
o
v
e
d
-
R
R
T
wh
ich
in
clu
d
es
Fas
t
-
Sam
p
lin
g
a
n
d
R
an
d
o
m
Steer
in
g
,
Fas
t
-
R
R
T
an
d
th
e
p
r
o
p
o
s
ed
m
eth
o
d
ca
n
s
h
o
w
b
etter
r
esu
lt
s
.
Fu
r
th
er
m
o
r
e,
t
h
e
p
ath
g
en
e
r
ated
b
y
R
R
T
*
d
o
es
n
o
t
h
av
e
s
u
f
f
icien
t
o
p
tim
ality
with
q
u
ite
h
ig
h
co
s
ts
.
Me
an
wh
ile,
in
Fas
t
R
R
T
,
th
e
o
p
tim
ality
o
f
th
e
p
ath
is
s
till
n
o
t
en
o
u
g
h
e
v
en
th
o
u
g
h
a
lar
g
e
s
am
p
lin
g
h
as
b
ee
n
co
m
p
leted
.
T
h
is
is
ca
u
s
ed
b
y
th
e
ab
s
en
ce
o
f
a
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
A
HB
MO
-
b
a
s
ed
b
a
tch
b
ea
c
o
n
a
d
ju
s
tmen
t fo
r
imp
r
o
vin
g
th
e
F
a
s
t
-
RRT
(
Heru
S
u
w
o
yo
)
115
r
ewir
in
g
p
r
o
ce
s
s
wh
ich
ca
n
b
e
u
s
ef
u
l
f
o
r
r
e
-
d
eter
m
in
in
g
c
o
n
n
ec
tio
n
s
to
n
o
d
es
o
n
th
e
s
u
b
-
p
ath
.
Ap
ar
t
f
r
o
m
th
at,
th
e
n
o
n
-
o
p
tim
al
p
ath
is
al
s
o
th
o
u
g
h
t to
b
e
ca
u
s
ed
b
y
th
e
f
u
s
io
n
s
tep
n
o
t b
ein
g
ab
le
to
r
u
n
p
r
o
p
er
ly
d
u
e
t
o
th
e
f
ailu
r
e
to
g
et
a
n
ew
p
at
h
th
at
is
b
etter
th
an
th
e
p
r
ev
i
o
u
s
o
p
tim
al
p
ath
.
E
v
e
n
th
o
u
g
h
p
a
th
o
p
tim
izatio
n
h
as
b
ee
n
im
p
lem
en
te
d
,
th
e
f
in
al
o
p
tim
ality
is
s
till
lack
in
g
an
d
wo
r
s
e
co
m
p
ar
e
d
to
R
R
T
*
,
with
p
ath
co
s
t
o
f
1
7
9
.
2
2
4
3
as
ca
n
b
e
s
ee
n
in
Fig
u
r
e
4
(
b
)
.
I
t
m
ig
h
t
b
e
d
u
e
t
o
th
e
in
f
lu
en
ce
o
f
th
e
p
r
ev
io
u
s
o
p
tim
al
ity
o
r
n
o
wir
in
g
p
r
o
ce
s
s
m
ain
tain
in
g
th
e
q
u
ality
o
f
th
e
p
r
e
v
io
u
s
ly
o
b
t
ain
ed
p
ath
.
Me
an
wh
ile,
f
o
r
th
e
p
r
o
p
o
s
ed
m
eth
o
d
in
th
is
s
ec
o
n
d
ca
s
e,
p
er
f
o
r
m
an
ce
h
as
s
h
o
wn
ef
f
ec
tiv
en
ess
with
a
co
s
t
p
ath
o
f
1
4
7
.
4
1
7
5
at
t
h
e
s
am
e
n
u
m
b
e
r
o
f
s
am
p
les
as c
an
b
e
s
ee
n
in
Fig
u
r
e
4
(
c)
.
(
a)
(
b
)
(
c)
Fig
u
r
e
3
.
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
(
a)
R
R
T
*
,
(
b
)
Fas
t
-
R
R
T
,
an
d
(
c)
HB
MO
-
o
p
tim
ized
Fas
t
-
R
R
T
(
a)
(
b
)
(
c)
Fig
u
r
e
4
.
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
(
a)
R
R
T
*
,
(
b
)
Fas
t
-
R
R
T
,
an
d
(
c)
HB
MO
-
o
p
tim
ized
Fas
t
-
R
R
T
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
In
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
8
,
No
.
1
,
Ap
r
il
20
2
5
:
1
07
-
1
19
116
T
ab
le
1
.
Du
r
atio
n
f
o
r
s
o
lv
in
g
t
h
e
p
r
o
b
lem
Te
st
i
n
g
c
r
i
t
e
r
i
a
R
R
T*
F
a
st
-
R
R
T
H
B
M
O
-
o
p
t
i
m
i
z
e
d
F
a
st
-
RRT
D
u
r
a
t
i
o
n
(
s
e
c
o
n
d
)
6
4
.
4
3
5
2
5
9
.
1
5
4
2
5
8
.
7
7
4
4
C
o
s
t
p
a
t
h
1
1
7
.
6
4
5
5
1
4
0
.
6
7
5
7
1
1
2
.
4
8
4
4
Alth
o
u
g
h
b
y
r
ef
er
r
i
n
g
to
th
e
r
esu
lts
in
F
ig
u
r
e
4
th
e
ef
f
ec
tiv
e
n
ess
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
c
an
alr
ea
d
y
b
e
p
r
o
v
en
,
to
i
n
cr
ea
s
e
co
n
f
i
d
e
n
ce
th
eir
p
er
f
o
r
m
a
n
ce
s
ar
e
co
m
p
ar
ed
in
ter
m
o
f
d
u
r
atio
n
n
e
ed
to
s
o
lv
in
g
p
ath
p
lan
n
in
g
,
as
s
h
o
w
n
in
T
ab
le
2
.
Mo
r
eo
v
er
,
to
a
g
ain
v
alid
ity
th
e
e
f
f
ec
tiv
en
ess
o
f
p
r
o
p
o
s
ed
m
eth
o
d
t
h
ir
d
ex
p
er
im
en
t
was
co
n
d
u
cte
d
.
E
v
en
th
o
u
g
h
th
e
s
tar
tin
g
an
d
g
o
al
p
o
s
itio
n
ar
e
p
lace
d
in
th
e
s
am
e
p
o
s
itio
n
,
th
e
co
m
p
lex
ity
o
f
en
v
i
r
o
n
m
e
n
t
is
in
cr
ea
s
ed
.
T
h
is
co
m
p
le
x
ity
is
r
ep
r
esen
ted
b
y
th
e
p
r
esen
ce
o
f
a
g
r
ea
ter
n
u
m
b
e
r
o
f
n
a
r
r
o
w
alley
s
co
m
p
a
r
ed
to
p
r
ev
io
u
s
e
n
v
ir
o
n
m
en
ts
.
R
ef
er
r
in
g
to
th
is
co
m
p
lex
ity
,
t
h
e
n
u
m
b
er
o
f
s
am
p
lin
g
s
allo
wed
is
7
0
0
0
an
d
th
e
p
e
r
f
o
r
m
a
n
ce
is
ex
am
in
ed
in
t
er
m
s
o
f
o
p
tim
ality
an
d
co
n
v
er
g
en
ce
r
ate.
T
h
e
p
o
s
itio
n
in
g
o
f
th
e
s
tar
tin
g
a
n
d
g
o
al
n
o
d
es
in
th
i
s
th
ir
d
ca
s
e
r
ef
er
s
to
th
e
n
ee
d
to
test
th
e
ex
p
lo
r
atio
n
p
r
o
ce
s
s
th
r
o
u
g
h
a
n
ar
r
o
w
p
ass
ag
e.
T
h
e
r
esu
lts
o
f
th
is
ex
p
er
im
en
t
ca
n
b
e
s
ee
n
in
Fig
u
r
e
5
.
I
n
th
is
ex
p
er
im
en
t,
R
R
T
*
r
eq
u
ir
es
6
8
7
0
tim
es
o
f
s
am
p
lin
g
to
g
et
th
e
in
itial
p
ath
(
Fig
u
r
e
5
(
a)
)
,
Fas
t
-
R
R
T
6
1
3
6
(
Fi
g
u
r
e
5
(
b
)
)
,
a
n
d
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
r
eq
u
ir
es 6
0
9
0
tim
es o
f
s
am
p
lin
g
(
Fig
u
r
e
5
(
c)
)
.
R
ef
er
r
in
g
to
Fig
u
r
e
5
,
th
e
p
ath
co
s
t
g
iv
en
b
y
th
e
p
r
o
p
o
s
ed
m
eth
o
d
ag
ai
n
s
h
o
ws
th
e
b
est
v
alu
e
co
m
p
ar
ed
to
R
R
T
*
an
d
Fas
t
-
R
R
T
.
J
u
d
g
in
g
f
r
o
m
th
e
co
n
v
er
g
en
ce
r
ate,
it
h
as
s
im
ilar
ities
with
Fas
t
-
R
R
T
wh
ich
is
clea
r
ly
f
aster
in
th
e
s
ea
r
ch
p
r
o
ce
s
s
.
So
,
it
ca
n
b
e
s
aid
th
at
th
e
p
r
o
p
o
s
ed
m
eth
o
d
c
an
ef
f
ec
tiv
ely
ad
o
p
t
th
e
ad
v
a
n
tag
es
o
f
Fas
t
-
R
R
T
an
d
th
e
ad
v
a
n
tag
es
o
f
R
R
T
*
in
u
n
if
ied
wo
r
k
.
T
h
e
p
r
ec
is
e
u
s
e
o
f
R
R
T
*
wh
ich
is
o
p
er
ated
a
f
te
r
f
ast
-
s
am
p
lin
g
a
n
d
r
a
n
d
o
m
s
am
p
lin
g
h
av
e
b
ee
n
ca
r
r
ied
o
u
t
s
eq
u
en
tially
,
h
as
a
p
o
s
itiv
e
im
p
ac
t
wh
en
en
v
ir
o
n
m
e
n
tal
co
m
p
lex
ity
is
in
cr
ea
s
ed
.
Fu
r
t
h
er
m
o
r
e,
b
y
c
o
n
s
id
er
in
g
th
e
o
p
tim
alit
y
o
f
R
R
T
*
wh
ich
p
r
o
v
id
es
m
o
r
e
e
f
f
ec
tiv
e
v
alu
es
co
m
p
ar
ed
to
Fas
t
-
R
R
T
,
th
is
p
r
e
cisi
o
n
is
f
u
r
th
e
r
ju
s
tifie
d
.
So
,
it
is
s
tr
o
n
g
en
o
u
g
h
to
s
ay
th
at
th
e
o
p
tim
ality
o
f
a
p
ath
ca
n
b
e
in
c
r
ea
s
ed
b
y
in
cl
u
d
in
g
a
r
ewir
in
g
p
r
o
ce
s
s
,
wh
ich
is
n
o
t
f
o
u
n
d
in
Fas
t
-
R
R
T
.
Nex
t,
to
en
s
u
r
e
th
at
th
e
wo
r
k
in
g
s
p
ee
d
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
is
also
b
etter
th
an
th
e
o
th
er
s
,
th
e
d
u
r
atio
n
o
f
s
o
lv
in
g
th
e
p
ath
p
la
n
n
in
g
p
r
o
b
lem
is
g
iv
en
in
T
ab
le
3
.
T
ab
le
2
.
Du
r
atio
n
f
o
r
s
o
lv
in
g
t
h
e
p
r
o
b
lem
Te
st
i
n
g
c
r
i
t
e
r
i
a
R
R
T*
F
a
st
-
R
R
T
H
B
M
O
-
o
p
t
i
m
i
z
e
d
F
a
st
-
RRT
D
u
r
a
t
i
o
n
(
s
e
c
o
n
d
)
3
6
9
.
4
3
5
2
2
5
3
.
9
3
0
3
2
3
9
.
9
3
0
3
C
o
s
t
P
a
t
h
1
5
6
.
4
6
4
2
1
7
9
.
2
2
4
3
1
4
7
.
4
1
7
5
(
a)
(
b
)
(
c)
Fig
u
r
e
5
.
T
h
e
p
er
f
o
r
m
a
n
ce
of
(
a)
R
R
T
*
,
(
b
)
Fas
t
-
R
R
T
,
an
d
(
c)
HB
MO
-
o
p
tim
ized
Fas
t
-
R
R
T
Evaluation Warning : The document was created with Spire.PDF for Python.