摘要
Complete reproducibility package for the manuscript "Current-Aware ε-Lexicographic A*: Exact Bounded Hierarchical Travel-Time and Maneuver Optimization for Autonomous Surface Vessels" (submitted to Journal of Intelligent & Robotic Systems, 2026).
CAεL-A* is a two-stage exact search that first computes the minimum current-aware travel time T* on an orientation-augmented directed graph, then returns the route with minimum cumulative heading change among all routes with T ≤ (1+ε)T*.
Contents: (1) source code at the deployed Git commit, with configuration files and unit/exactness tests; (2) 540 generated synthetic current fields and obstacle masks with SHA-256 checksums (nine scenario families × 30 seeds); (3) processed Strait of Gibraltar current and coastline arrays with provenance (NOAA/NCEP Global RTOFS v2.5, 2026-08-27 00:00 UTC snapshot; Natural Earth 1:10m v5.1.1); (4) raw run tables and per-run checkpoints for the principal campaign (11,880 runs), full Pareto label-setting controls (15 instances), Gibraltar at five vessel speeds (180 runs), and the scaling study; (5) all derived summary tables, paired tests, claim audit, and figures with a source-file index; (6) an analysis-only script that regenerates every table and figure from the raw tables without re-running any search. The superseded v1 benchmark and the audit report documenting its defects are included and labelled as such.
Two archives are provided: the full package with per-run checkpoints and a smaller package with aggregate tables only.