Comparative Performance Report: Alert-BFS vs. Alert-A* vs. PRIMAL

This report presents a comparative analysis of Alert-BFS, Alert-A*, and the PRIMAL baseline. The key performance indicators are success rate, solution cost (makespan), and information efficiency (Information Sharing Units - IU). Lower makespan and lower IU values represent better performance. The tables below provide a detailed breakdown for each problem instance and a summary of average performance on successful runs.

Comparative Summary (Averages of Successful Runs)

Num Agents	Alert-BFS			Alert-A*			PRIMAL			IU Reduction (vs PRIMAL)
Num Agents	Success	Avg Makespan	Avg IU	Success	Avg Makespan	Avg IU	Success	Avg Makespan	Avg IU	IU Reduction (vs PRIMAL)
5	10	15.2	51	10	14.2	50	6	48.3	1650	BFS: 96.9% *A:** 97.0%
6	10	16.4	82	10	15.4	76	7	55.7	2459	BFS: 96.6% *A:** 96.9%
7	10	15.3	123	10	14.9	96	5	170.8	9213	BFS: 98.7% *A:** 99.0%
8	10	18.0	108	10	16.8	104	7	138.4	8157	BFS: 98.7% *A:** 98.7%
9	10	20.7	128	10	18.3	129	8	111.9	7537	BFS: 98.3% *A:** 98.3%
10	10	19.2	168	10	19.2	172	9	96.4	7938	BFS: 97.9% *A:** 97.8%
11	10	22.6	181	10	18.6	167	7	69.4	6035	BFS: 97.0% *A:** 97.2%
12	10	20.9	200	10	18.8	195	3	156.3	15892	BFS: 98.7% *A:** 98.8%
13	10	24.5	305	10	19.1	235	9	146.2	15117	BFS: 98.0% *A:** 98.4%
14	10	24.6	337	10	19.1	241	4	89.0	10130	BFS: 96.7% *A:** 97.6%
15	10	22.1	326	10	17.2	239	5	145.2	17881	BFS: 98.2% *A:** 98.7%
16	10	22.6	323	10	19.0	259	5	98.0	13284	BFS: 97.6% *A:** 98.0%
17	10	24.4	380	10	16.9	264	2	80.0	11157	BFS: 96.6% *A:** 97.6%
18	10	24.5	427	10	16.4	255	3	197.0	29362	BFS: 98.5% *A:** 99.1%
19	10	25.5	501	10	16.3	285	2	211.0	33725	BFS: 98.5% *A:** 99.2%
20	10	24.6	513	10	17.3	291	4	124.2	21196	BFS: 97.6% *A:** 98.6%

Comparative Detailed Report for 5 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	12.0	34	✔	12.0	34	✔	11.0	404
1	✔	23.0	63	✔	17.0	57	✖	N/A	20018
2	✔	14.0	54	✔	14.0	54	✔	155.0	4862
3	✔	14.0	64	✔	14.0	64	✖	N/A	16374
4	✔	18.0	61	✔	14.0	57	✔	35.0	1384
5	✔	16.0	33	✔	16.0	33	✔	41.0	1476
6	✔	10.0	37	✔	10.0	37	✔	22.0	836
7	✔	21.0	79	✔	21.0	79	✔	26.0	938
8	✔	10.0	38	✔	10.0	38	✖	N/A	18211
9	✔	14.0	50	✔	14.0	50	✖	N/A	15363

Comparative Detailed Report for 6 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	21.0	123	✔	25.0	116	✔	130.0	5367
1	✔	16.0	50	✔	16.0	50	✖	N/A	17235
2	✔	10.0	44	✔	10.0	44	✔	23.0	1028
3	✔	13.0	65	✔	13.0	65	✔	114.0	4646
4	✔	15.0	82	✔	17.0	88	✖	N/A	20174
5	✔	19.0	112	✔	15.0	94	✖	N/A	18982
6	✔	23.0	134	✔	11.0	75	✔	34.0	1787
7	✔	17.0	81	✔	17.0	81	✔	20.0	890
8	✔	17.0	92	✔	17.0	106	✔	31.0	1534
9	✔	13.0	46	✔	13.0	46	✔	38.0	1961

Comparative Detailed Report for 7 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	16.0	88	✔	16.0	88	✖	N/A	30199
1	✔	17.0	87	✔	17.0	87	✔	246.0	12390
2	✔	18.0	386	✔	14.0	124	✖	N/A	21741
3	✔	18.0	110	✔	18.0	110	✖	N/A	31779
4	✔	15.0	100	✔	15.0	100	✖	N/A	29923
5	✔	11.0	64	✔	11.0	64	✔	466.0	26602
6	✔	14.0	78	✔	14.0	78	✖	N/A	23368
7	✔	19.0	151	✔	19.0	146	✔	36.0	1379
8	✔	13.0	78	✔	13.0	81	✔	60.0	3167
9	✔	12.0	89	✔	12.0	89	✔	46.0	2529

Comparative Detailed Report for 8 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	11.0	86	✔	16.0	104	✖	N/A	24564
1	✔	24.0	112	✔	15.0	79	✔	336.0	21896
2	✔	16.0	91	✔	16.0	91	✔	31.0	1906
3	✔	16.0	110	✔	16.0	108	✖	N/A	33397
4	✔	17.0	100	✔	17.0	100	✖	N/A	32384
5	✔	27.0	183	✔	19.0	162	✔	25.0	1202
6	✔	19.0	117	✔	19.0	117	✔	26.0	1744
7	✔	17.0	96	✔	17.0	96	✔	32.0	1990
8	✔	10.0	63	✔	10.0	63	✔	223.0	12036
9	✔	23.0	126	✔	23.0	126	✔	296.0	16325

Comparative Detailed Report for 9 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	18.0	86	✔	18.0	86	✔	26.0	1699
1	✔	24.0	162	✔	24.0	158	✔	54.0	3290
2	✔	21.0	123	✔	17.0	132	✔	94.0	7899
3	✔	15.0	98	✔	15.0	98	✖	N/A	37955
4	✔	32.0	121	✔	23.0	130	✔	92.0	5408
5	✔	16.0	107	✔	16.0	107	✔	60.0	4336
6	✔	17.0	80	✔	17.0	80	✖	N/A	37044
7	✔	24.0	162	✔	19.0	170	✔	185.0	11320
8	✔	23.0	188	✔	21.0	204	✔	260.0	17397
9	✔	17.0	155	✔	13.0	131	✔	124.0	8952

Comparative Detailed Report for 10 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	18.0	216	✔	16.0	202	✔	114.0	9717
1	✔	17.0	145	✔	23.0	208	✔	55.0	4339
2	✔	18.0	158	✔	30.0	191	✔	301.0	25576
3	✔	17.0	118	✔	17.0	118	✔	99.0	8914
4	✔	18.0	163	✔	14.0	171	✔	86.0	6240
5	✔	22.0	138	✔	22.0	138	✔	46.0	3104
6	✔	20.0	180	✔	14.0	205	✖	N/A	33902
7	✔	17.0	199	✔	17.0	199	✔	30.0	2622
8	✔	24.0	195	✔	18.0	151	✔	89.0	7261
9	✔	21.0	172	✔	21.0	144	✔	48.0	3674

Comparative Detailed Report for 11 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	22.0	132	✔	22.0	132	✔	61.0	4596
1	✔	46.0	294	✔	24.0	196	✔	46.0	3759
2	✔	19.0	179	✔	17.0	161	✔	25.0	2212
3	✔	26.0	181	✔	17.0	177	✔	40.0	3229
4	✔	20.0	264	✔	22.0	261	✖	N/A	46899
5	✔	22.0	144	✔	22.0	144	✖	N/A	48304
6	✔	20.0	143	✔	16.0	139	✔	146.0	13214
7	✔	21.0	214	✔	18.0	211	✔	70.0	6034
8	✔	13.0	135	✔	13.0	119	✖	N/A	43739
9	✔	17.0	133	✔	15.0	131	✔	98.0	9205

Comparative Detailed Report for 12 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	26.0	206	✔	26.0	206	✔	124.0	12489
1	✔	20.0	213	✔	15.0	242	✖	N/A	45226
2	✔	32.0	363	✔	13.0	192	✖	N/A	46238
3	✔	14.0	130	✔	14.0	130	✖	N/A	49958
4	✔	25.0	193	✔	25.0	193	✖	N/A	40351
5	✔	13.0	123	✔	12.0	122	✖	N/A	44408
6	✔	20.0	156	✔	24.0	248	✔	55.0	5151
7	✔	21.0	214	✔	23.0	221	✔	290.0	30038
8	✔	21.0	226	✔	19.0	222	✖	N/A	39798
9	✔	17.0	179	✔	17.0	179	✖	N/A	46243

Comparative Detailed Report for 13 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	20.0	262	✔	20.0	259	✔	276.0	24601
1	✔	25.0	263	✔	23.0	227	✖	N/A	42341
2	✔	27.0	168	✔	20.0	144	✔	45.0	4425
3	✔	23.0	230	✔	23.0	228	✔	76.0	8370
4	✔	22.0	372	✔	17.0	244	✔	33.0	3474
5	✔	19.0	215	✔	15.0	208	✔	225.0	25897
6	✔	29.0	422	✔	16.0	227	✔	289.0	29751
7	✔	35.0	361	✔	19.0	320	✔	93.0	9972
8	✔	20.0	356	✔	22.0	271	✔	89.0	8843
9	✔	25.0	403	✔	16.0	231	✔	190.0	20724

Comparative Detailed Report for 14 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	30.0	453	✔	25.0	237	✖	N/A	55772
1	✔	20.0	437	✔	20.0	238	✖	N/A	58891
2	✔	32.0	506	✔	17.0	281	✖	N/A	57850
3	✔	24.0	248	✔	22.0	238	✔	57.0	6391
4	✔	21.0	366	✔	17.0	211	✖	N/A	59055
5	✔	27.0	350	✔	16.0	233	✔	87.0	10736
6	✔	20.0	267	✔	20.0	267	✖	N/A	49250
7	✔	26.0	198	✔	15.0	229	✔	97.0	10832
8	✔	28.0	368	✔	21.0	321	✔	115.0	12563
9	✔	18.0	186	✔	18.0	163	✖	N/A	56118

Comparative Detailed Report for 15 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	21.0	472	✔	16.0	247	✔	204.0	25571
1	✔	23.0	355	✔	19.0	278	✖	N/A	59791
2	✔	27.0	582	✔	25.0	287	✔	86.0	10908
3	✔	20.0	287	✔	17.0	275	✖	N/A	57828
4	✔	24.0	299	✔	16.0	206	✔	349.0	41768
5	✔	23.0	224	✔	17.0	248	✖	N/A	65165
6	✔	22.0	261	✔	13.0	258	✔	48.0	6538
7	✔	23.0	391	✔	13.0	220	✖	N/A	54043
8	✔	24.0	252	✔	24.0	243	✔	39.0	4620
9	✔	14.0	144	✔	12.0	133	✖	N/A	56241

Comparative Detailed Report for 16 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	17.0	298	✔	15.0	237	✔	86.0	11941
1	✔	39.0	301	✔	25.0	308	✖	N/A	70388
2	✔	12.0	182	✔	12.0	184	✖	N/A	67271
3	✔	35.0	465	✔	22.0	251	✔	146.0	20967
4	✔	19.0	264	✔	19.0	240	✖	N/A	70092
5	✔	17.0	287	✔	17.0	285	✔	108.0	14178
6	✔	26.0	456	✔	24.0	283	✖	N/A	71203
7	✔	22.0	376	✔	18.0	267	✔	82.0	10301
8	✔	15.0	310	✔	15.0	240	✔	68.0	9036
9	✔	24.0	295	✔	23.0	298	✖	N/A	68597

Comparative Detailed Report for 17 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	28.0	555	✔	16.0	337	✖	N/A	71243
1	✔	27.0	403	✔	17.0	263	✖	N/A	74742
2	✔	13.0	207	✔	15.0	246	✔	33.0	4472
3	✔	27.0	472	✔	22.0	277	✖	N/A	68387
4	✔	20.0	362	✔	15.0	258	✖	N/A	60970
5	✔	35.0	379	✔	19.0	286	✖	N/A	76897
6	✔	17.0	275	✔	13.0	213	✖	N/A	73132
7	✔	29.0	584	✔	17.0	262	✖	N/A	74891
8	✔	22.0	255	✔	17.0	240	✖	N/A	76778
9	✔	26.0	312	✔	18.0	266	✔	127.0	17842

Comparative Detailed Report for 18 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	27.0	311	✔	18.0	235	✔	62.0	9531
1	✔	32.0	414	✔	19.0	250	✖	N/A	82986
2	✔	29.0	302	✔	15.0	277	✖	N/A	69676
3	✔	17.0	327	✔	17.0	195	✔	336.0	48191
4	✔	27.0	496	✔	16.0	257	✔	193.0	30366
5	✔	16.0	272	✔	12.0	219	✖	N/A	77685
6	✔	21.0	569	✔	14.0	252	✖	N/A	71366
7	✔	28.0	621	✔	15.0	288	✖	N/A	80657
8	✔	18.0	392	✔	17.0	281	✖	N/A	85670
9	✔	30.0	569	✔	21.0	301	✖	N/A	84446

Comparative Detailed Report for 19 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	26.0	493	✔	15.0	262	✔	94.0	15600
1	✔	27.0	540	✔	16.0	261	✖	N/A	86552
2	✔	27.0	575	✔	21.0	326	✖	N/A	87025
3	✔	29.0	552	✔	14.0	277	✖	N/A	83259
4	✔	32.0	489	✔	14.0	289	✖	N/A	77089
5	✔	29.0	389	✔	22.0	316	✖	N/A	78867
6	✔	19.0	424	✔	13.0	259	✖	N/A	81890
7	✔	22.0	572	✔	20.0	348	✖	N/A	87836
8	✔	24.0	452	✔	14.0	262	✖	N/A	86233
9	✔	20.0	533	✔	14.0	255	✔	328.0	51851

Comparative Detailed Report for 20 Agents

Problem ID	Alert-BFS			Alert-A*			PRIMAL
Problem ID	Status	Makespan	Info IU	Status	Makespan	Info IU	Status	Makespan	Info IU
0	✔	27.0	599	✔	16.0	255	✖	N/A	86981
1	✔	29.0	511	✔	21.0	304	✔	106.0	18667
2	✔	29.0	388	✔	19.0	292	✖	N/A	82194
3	✔	27.0	613	✔	17.0	318	✖	N/A	84244
4	✔	28.0	496	✔	20.0	267	✖	N/A	89504
5	✔	26.0	435	✔	18.0	325	✔	84.0	15007
6	✔	22.0	575	✔	15.0	312	✔	147.0	24067
7	✔	20.0	528	✔	15.0	277	✖	N/A	91502
8	✔	18.0	404	✔	16.0	275	✖	N/A	83566
9	✔	20.0	585	✔	16.0	287	✔	160.0	27043