Investigation of Efficiency of Path Finding Algorythms in Uncertainty. 2. Atlas of Singular Situations and Atlas of 'Unstable Domination'

The investigation results of path finding algorithms in uncertainty are presented. The classifications of path finding algorithms and obstacles structures are given. The atlas of singular situations and the atlas of 'unstable domination' for path finding algorithms in uncertainty are presented (case 2D). Singular situation is used for illustration of some type of moving point qualitative behaviour by small variation of some problem parameters (for example, initial and final points). 'Unstable domination' is characterized by the fact that domination function of one algorithm over another changes its sign by small variation of problem parameters.