
| Planner   | Version | Solved | Failed | Timeout   | A Solved   |
|-----------|---------------------------------------|------------|
| W         |                                       |            |
| W         | i                                     |            |
| x         |                                       |            |
| X         | l                                     |            |
| Y         |                                       |            |
| Y         | l                                     |            |
| Z         |                                       |            |
| Z         | 11                                    |            |
| Z         | l                                     |            |
| z         | ↑                                     |            |

| old      | new     | 2       | P   |
|----------|---------|---------|-----|
| Pl anner | Version | Version |     |
| W        |         |         |     |
| x        |         |         |     |
| Y        |         |         |     |
| Z        |         |         |     |
| Z        |         |         |     |
| z        |         |         |     |

the problem faster  slower  or in the same time as the preceding version  From the results we see that all of the planners improved in the average speed of solution for in Table subsequent versions  with the exception of Z  transition from the   to   versions   However Z did increase the number of problems solved between those versions

| Pl anner   | Old New Faster    | Slower  Same  I   | Tot al   |
|------------|-------------------|-------------------|----------|
| W          |                   |                   |          |
| X          |                   |                   |          |
| Y          |                   |                   |          |
| Z          |                   |                   |          |
| Z          |                   |                   |          |
| Z          |                   |                   |          |

Table Improvements in execution speed across versions  The Faster column counts the