

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

for that problem). The plots on the right show plan quality for the two versions of LPG and the SuperPlanner.

The results in these and in the following plots are mostly self explanatory. In the temporal and complex variants LPG-speed is often one or more orders of magnitude faster than the SuperPlanner. In the Strips variant the SuperPlanner is faster for the smallest problems, but it is generally slower for the largest ones. In the Numeric variant the SuperPlanner is faster, but our planner produces solutions of better quality. Regarding LPG-quality, in all variants except Satellite Strips our planner performs much better than the SuperPlanner. In the Strips variant, the quality of the plans produced by LPG-quality is approximately the same as the quality of the plans generated by the SuperPlanner.

Concerning the quality of the solutions computed by LPG-speed and the CPU-time required by LPG-quality, as we have described in Section 3.6, it is important to note that