

![0_image_0.png](0_image_0.png) 

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the three smallest problems. The solving times of Sapa are slightly higher than MIPS, but are much better than TP4.

The "timed" version of the Rover domain requires that a set of scientific analyses be done using a number of rovers. Each rover carries different equipment, and has a different energy capacity.

Moreover, each rover can only recharge its battery at certain points that are under the sun (which may be unreachable). Figure 19 shows that only Sapa and MIPS were able to handle the constraints in this problem set. Sapa again solved more problems (11 vs. 9) than MIPS and also returned better or equal quality solutions in all but one case. The solving time of MIPS is better than Sapa in 6 of 9 problems where it returns the solutions.