PERFORMANCE-ORIENTED VS. MAINTAINABILITY-ORIENTED IMPLEMENTATION: A CASE STUDY OF THE REACTIVE PLANNER OF TEAM SWEDEN.

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Our work is a case study for Team Sweden, which is a national effort to produce a team of soccer playing robots. We took the present structure of the Reactive Planner, which is the game-planning module of the system, and made two new parallel versions of the Reactive Planner. One where we tried to optimize for CPU and memory usage called the performance-oriented implementation. We also made one implementation where we tried to optimize for maintainability called the maintainability-oriented implementation. To evaluate the implementations we ran a series of CPU and memory usage tests to assess the performance. We also estimated the maintainability of both implementations. The test results where later used to decide which implementation we should recommend to Team Sweden. The results showed that the difference in maintainability did outweigh the difference in performance...