The performance of RRT-MP/P and RRT-MP/S is almost identical,
so the T-test is used to accept or reject the hypothesis that the
two algorithms behave in the same way (i.e., they have equal runtimes
and produces trajectories of same quality). The mean values
and the deviation of the measured indicators are given in Table 4
and the p-values of the t-test between the RRT-MP/P and RRT-MP/S
are given in the last column. We can conclude that both algorithms
provide the same results for the Quadropod robot, as all three
p-values are higher than the significance level α = 0.05. This is
caused by higher maneuverability of the Quadropod in comparison
to other two robots. The Quadropod robot can move on the surface
sufficiently with both types of primitives. Contrary, the quality of the plans created by RRT-MP/S and RRT-MP/P differs for the Lizard
and S-bot robots. The results showed that although the planners
can provide a solution with both types of primitives, the quality of
the created plans is higher if suitable primitives are used, i.e., primitives
learned on the surface should be used when the robot moves
on the surface.