Update README.md

README.md

@@ -7,4 +7,13 @@ tags:
 pretty_name: PPFT
 size_categories:
 - n<1K
----
+---
+
+**PPFT**: Path Planning on Fifty x Thirty
+Our dataset consists of 100 manually selected 50 × 30 maps from a randomly generated collection, each with 10 different start and goal positions. Therefore, there are 1000 samples in total (see Figure 1 for sample visualization). Our data conform to the standard of search-based algorithm environments in a continuous space. Each map includes the following parameters:
+• x range: The minimum and maximum x-coordinates of the environment boundary range as [x min, x max].
+• y range: The minimum and maximum y-coordinates of the environment boundary range as [y min, y max].
+• horizontal barriers: List of horizontal barriers, each represented as [y, x start, x end].
+• vertical barriers: List of vertical barriers, each represented as [x, y start, y end].
+• start goal: List of 10 unique start and goal positions for each map.
+These parameters define the structure and constraints of each map, ensuring consistency and relevance to the standard experimental environment conditions for search-based algorithms. Meanwhile, the map environment is able to scale properly for scalability experiment.