A Appendix

A.1 Algorithm Configuration Results In this section, we present the algorithm configuration results similar to the one in Section 5.1. Numbers represent improvement ratios /t for one decomposition, averaged over 5 random seeds. A.2 Visualization A natural question is what property a good decomposition has. Here we provide one interpretation for the risk-aware path planning. We use a slightly smaller instance with 20 obstacles for a clearer 13 k t 1 2 3 2 54358.