Table 3 The distinct levels of simulated environments.
From: A hybrid MARL clustering framework for real time open pit mine truck scheduling
Difficulty level | Terrain constraints | Truck slope constraints | Truck speed differences | Obstacle constraints |
|---|---|---|---|---|
Simple | Mainly “normal” and “road” terrain with minimal slope changes | Loose slope limits; negligible effect | All trucks use identical speed settings | Few obstacles, sparsely distributed |
Moderate | Mix of “normal”, “road”, and some “hill” areas with moderate slope changes | Moderate slope limits: some areas require caution | Slight speed variations (some trucks may slow down slightly) | A moderate number of obstacles, randomly distributed |
Difficult | Primarily “hill” and “mud” terrain with significant slope variations | Strict slope limits; clearly affecting movement | Noticeable speed differences: trucks have more distinct speed settings | Many obstacles, densely arranged |
