Understanding This Data
=======================

This data describes the results of testing DFC controlled drones using either PSOP or D* Lite. The two approaches were compared over nine unique scenarios for a total of 18 simulations. Each simulation was repeated five times.

In each file there are 18 sheets s0 to s8 and s0_d to s8_d. The former contains the results for scenario 1 to 9 when using PSOP and the latter contains the results for scenario 1 to 9 when using D* Lite.

The following data was collected for each scenario:
* Frametime of every frame during the simulation
* Memory allocation at every frame of the simulation
* Time taken to initialise the simulation
* Time taken to complete the objective (find the target)
* The number of collisions (split by drone-to-drone and drone-to-environment)

This data is stored across three files: 
* frame_time_data contains only the frametime data 
* memory_allocation_data contains only the memory allocation data
* search_time_and_collisions_data contains init time, search time, and collision data

How the Data is Presented:
--------------------------
**frame_time_data:**

| Columns     | Description |
| ----------- | ----------- |
| A-E         | The raw data for every frame of each simulation iteration       			|
| G-K         | The number of frames, mean, and standard deviation of each simulation iterations 	|
| M-N         | The weighted mean and weighted deviation across all five iterations 		|
| P           | The median value of all datapoints across all five iterations			|

---

**memory_allocation_data:**

The file is laid out in the same format as frame_time_data *(see above)*.

---

**search_time_and_collisions_data:**

As only one data point per simulation was collected the remaining fields are displayed as:

| Columns     | Description |
| ----------- | ----------- |
| B           | Time taken to initialise the simulation   |
| C           | Time taken to complete the objective      |
| D           | Number of drone-to-environment collisions |
| E           | Number of drone-to-drone collisions       |
| F           | Total number of collisions (D+E)          |

| Rows        | Description |
| ----------- | ----------- |
| 2-6         | The raw data for the corresponding field for each of the five iterations 		|
| 8           | The mean value for the corresponding field across all five iterations		|
| 9           | The standard deviation for the corresponding field across all five iterations	|