| Environment | Planner | Average Running Time | Initial State | Goal State | Best case running time | Worst case running time | |
| Example1 | RRT | 67.1 | 4.0 4.0 | 96.0 96.0 | 42.81 | 96.59 | |
| Example1 | RRTGoalBias | 14.39 | " | " | 4.90 | 63.77 | |
| Example1 | RRTWeight | 3.35 | " | " | 2.47 | 3.91 | |
| Example1 | RRTExtExt | 0.67 | " | " | 0.62 | 0.67 | |
| Example2 | RRT | 84.64 | 30 .0 40.0 | 96.0 96.0 | 66.53 | 102.75 | |
| Example2 | RRTGoalBias | 7.93 | " | " | 5.73 | 9.01 | |
| Example2 | RRTWeight | 7.17 | " | " | 6.04 | 10.02 | |
| Example2 | RRTExtExt | 4.5 | " | " | 4.33 | 4.62 | |
| Example2 | RRT | 509.11 | 30.0 40.0 | 60.0 40.0 | 497.20 | 523.22 | |
| Example2 | RRTGoalBias | 13.03 | " | " | 11.83 | 13.92 | |
| Example2 | RRTWeight | 13.5 | " | " | 11.06 | 14.99 | |
| Example2 | RRTExtExt | 3.25 | " | " | 2.79 | 3.65 | |
| Example3 | RRT | 44.36 | 20.0 40.0 | 96.0 96.0 | 33.5 | 74.58 | |
| Example3 | RRTGoalBias | 6.0 | " | " | 4.72 | 6.78 | |
| Example3 | RRTWeight | 4.72 | " | " | 4.32 | 5.39 | |
| Example3 | RRTExtExt | 0.76 | " | " | 0.74 | 0.78 | |
| Example4 | RRT | 60.82 | 10.0 10.0 | 96.0 96.0 | 33.5 | 74.58 | |
| Example4 | RRTGoalBias | 7.93 | " | " | 6.18 | 9.81 | |
| Example4 | RRTWeight | 4.26 | " | " | 3.95 | 4.74 | |
| Example4 | RRTExtExt | 2.81 | " | " | 2.16 | 3.26 | |
| Example5 | RRT | 112.6 | 70.0 44.0 | 96.0 96.0 | 75.61 | 161.97 | |
| Example5 | RRTGoalBias | 13.58 | " | " | 13.09 | 14.7 | |
| Example5 | RRTweight | 14.25 | " | " | 12.2 | 16.98 | |
| Example5 | RRTExtExt | 8.52 | " | " | 8.29 | 8.91 |