Here - Agents Lab - University of Nottingham

update cycle U, and the average cost of an update c upd . We also report the number ofupdate cycles for each scenario we have run. Finally, we report the average percentageof queries that are repeated in consecutive update cycles, p. That is, p represents theaverage percentage of queries that were performed in one cycle and repeated in the nextupdate cycle.The Jason and 2APL agents were run on a 2 GHz Intel Core Duo, 2 GB 667 MHzDDR2 SDRAM running OSX 10.6 and Java 1.6. The GOAL agents were run on a 2.66GHz Intel Core i7, 4GB 1067 MHz DDR3, running OSX 10.6 and Java 1.6. Query andupdate costs are given in microseconds. The Size column in Tables 2a – 2c refers to thenumber of blocks in Blocks world. In Tables 3a and 3b for the Elevator Sim, Size refersto the number of people that randomly are generated by the simulator. The size columnin Table 6 refers to the size of grid used: KT2 is a 6 × 5 grid with one pit, KT4 a 9 × 7grid with 2 pits, and KT5 a 4 × 4 grid with 3 pits.The results for the Blocks World environment are given in Tables 2a – 2c. Note thatthe average query and update costs for the GOAL agent decrease when the number ofblocks increases. This effect can be explained by the fact that in this toy domain theoverhead of translating queries by means of the JPL interface to SWI-Prolog queries isrelatively larger in smaller sized instances than in larger sized ones. Also note that thecosts found for GOAL agents cannot be used to draw conclusions about the performanceof SWI-Prolog because of the significant overhead the Java interface JPL introduces.Size N K n p c qry U c upd Update cycles10 4.6 3.3 1.39 70% 485 1.1 376 1650 4.8 3.3 1.46 82% 286 1.0 1057 79100 5.1 3.3 1.54 82% 317 1.0 2788 152(a) JasonSize N K n p c qry U c upd Update cycles10 41.1 26.8 1.56 58% 8554 1.8 294 4650 104.8 78.2 1.34 59% 22335 1.8 273 230100 235.4 165.8 1.42 59% 49247 1.8 435 460(b) 2APLSize N K n p c qry U c upd Update cycles10 26.0 17.6 1.48 59% 89 2.6 58 1650 100.3 66.0 1.52 63% 64 2.7 35 70100 153.3 105.7 1.45 70% 59 2.9 29 144(c) GOALTable 2: Blocks WorldThe results for the Elevator Sim environment are given in Tables 3a and 3b. Tables4 and 5 give the results for the MAPC 2006 & 2011 environments, and the results forthe Wumpus World environment are shown in Table 6.125